{"id":"https://openalex.org/W2418368699","doi":"https://doi.org/10.1109/icra.2016.7487274","title":"Fast nonlinear Model Predictive Control for unified trajectory optimization and tracking","display_name":"Fast nonlinear Model Predictive Control for unified trajectory optimization and tracking","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2418368699","doi":"https://doi.org/10.1109/icra.2016.7487274","mag":"2418368699"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487274","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487274","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5053312475","display_name":"Michael Neunert","orcid":"https://orcid.org/0000-0003-2080-8376"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Michael Neunert","raw_affiliation_strings":["Agile & Dexterous Robotics Lab, ETH, Zurich"],"affiliations":[{"raw_affiliation_string":"Agile & Dexterous Robotics Lab, ETH, Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040011712","display_name":"Cedric de Crousaz","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Cedric de Crousaz","raw_affiliation_strings":["Agile & Dexterous Robotics Lab, ETH, Zurich"],"affiliations":[{"raw_affiliation_string":"Agile & Dexterous Robotics Lab, ETH, Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076445011","display_name":"Fadri Furrer","orcid":"https://orcid.org/0000-0002-6070-1760"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Fadri Furrer","raw_affiliation_strings":["Autonomous Systems Lab, ETH, Zurich"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH, Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084290807","display_name":"Mina Kamel","orcid":"https://orcid.org/0000-0002-0764-236X"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Mina Kamel","raw_affiliation_strings":["Autonomous Systems Lab, ETH, Zurich"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH, Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040208292","display_name":"Farbod Farshidian","orcid":"https://orcid.org/0000-0001-8269-6272"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Farbod Farshidian","raw_affiliation_strings":["Agile & Dexterous Robotics Lab, ETH, Zurich"],"affiliations":[{"raw_affiliation_string":"Agile & Dexterous Robotics Lab, ETH, Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Lab, ETH, Zurich"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH, Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077279214","display_name":"Jonas Buchli","orcid":"https://orcid.org/0000-0001-7494-8492"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jonas Buchli","raw_affiliation_strings":["Agile & Dexterous Robotics Lab, ETH, Zurich"],"affiliations":[{"raw_affiliation_string":"Agile & Dexterous Robotics Lab, ETH, Zurich","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5053312475"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":17.8113,"has_fulltext":false,"cited_by_count":203,"citation_normalized_percentile":{"value":0.99404856,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1398","last_page":"1404"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9746000170707703,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7546663284301758},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.700944185256958},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6778960227966309},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6683758497238159},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5847137570381165},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.5756816864013672},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.5603952407836914},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.548319935798645},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.5343806743621826},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.42157021164894104},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.41905882954597473},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4162997305393219},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3421635627746582},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.24206265807151794},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23567965626716614},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18322238326072693},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1467832624912262},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1147402822971344}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7546663284301758},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.700944185256958},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6778960227966309},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6683758497238159},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5847137570381165},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.5756816864013672},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.5603952407836914},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.548319935798645},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.5343806743621826},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.42157021164894104},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.41905882954597473},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4162997305393219},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3421635627746582},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.24206265807151794},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23567965626716614},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18322238326072693},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1467832624912262},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1147402822971344},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2016.7487274","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487274","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1430097788","https://openalex.org/W1561858273","https://openalex.org/W1578293866","https://openalex.org/W1919002818","https://openalex.org/W1977164425","https://openalex.org/W2007726556","https://openalex.org/W2016331189","https://openalex.org/W2028893450","https://openalex.org/W2072752020","https://openalex.org/W2087617385","https://openalex.org/W2098536261","https://openalex.org/W2098759960","https://openalex.org/W2109656638","https://openalex.org/W2133229586","https://openalex.org/W2135044962","https://openalex.org/W2154070800","https://openalex.org/W2167856595","https://openalex.org/W2198582666","https://openalex.org/W2294316001","https://openalex.org/W2498736626","https://openalex.org/W2522564208","https://openalex.org/W2735608840","https://openalex.org/W6634651595","https://openalex.org/W6680080381","https://openalex.org/W6697143457","https://openalex.org/W6723685390"],"related_works":["https://openalex.org/W2761624296","https://openalex.org/W1511742391","https://openalex.org/W2080896647","https://openalex.org/W2025587901","https://openalex.org/W2028217664","https://openalex.org/W2158000646","https://openalex.org/W2886734572","https://openalex.org/W1852236601","https://openalex.org/W1616815502","https://openalex.org/W2327610550"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,22,41,74],"framework":[4],"for":[5],"real-time,":[6],"full-state":[7],"feedback,":[8],"unconstrained,":[9],"nonlinear":[10,51],"model":[11],"predictive":[12],"control":[13,20,33,52],"that":[14,107],"combines":[15],"trajectory":[16],"optimization":[17],"and":[18,54,60,93],"tracking":[19],"in":[21,40],"single,":[23],"unified":[24],"approach.":[25],"The":[26,77],"proposed":[27],"method":[28],"uses":[29],"an":[30,89],"iterative":[31],"optimal":[32,58],"algorithm,":[34],"namely":[35],"Sequential":[36],"Linear":[37],"Quadratic":[38],"(SLQ),":[39],"Model":[42],"Predictive":[43],"Control":[44],"(MPC)":[45],"setting":[46],"to":[47,101],"solve":[48],"the":[49,57,80,94,110],"underlying":[50],"problem":[53],"simultaneously":[55],"derive":[56],"feedforward":[59],"feedback":[61],"terms.":[62],"Our":[63],"customized":[64],"solver":[65],"can":[66],"generate":[67],"trajectories":[68],"of":[69,79],"multiple":[70],"seconds":[71],"within":[72],"only":[73],"few":[75],"milliseconds.":[76],"performance":[78],"approach":[81],"is":[82],"validated":[83],"on":[84],"two":[85],"different":[86],"hardware":[87],"platforms,":[88],"AscTec":[90],"Firefly":[91],"hexacopter":[92],"ball":[95],"balancing":[96],"robot":[97],"Rezero.":[98],"In":[99],"contrast":[100],"similar":[102],"approaches,":[103],"we":[104],"perform":[105],"experiments":[106],"require":[108],"leveraging":[109],"full":[111],"system":[112],"dynamics.":[113]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":22},{"year":2021,"cited_by_count":37},{"year":2020,"cited_by_count":30},{"year":2019,"cited_by_count":25},{"year":2018,"cited_by_count":21},{"year":2017,"cited_by_count":16},{"year":2016,"cited_by_count":4}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}