This work discusses the use of model predictive control (MPC) for the manipulation of a pusher-slider system. In particular we leverage the differential flatness of the pusher-slider in combination with a B-splines transcription to address the computational demand that is typically associated to real-time implementation of an MPC controller. We demonstrate the flatness based B-spline MPC controller in simulation and compare it to a standard MPC implementation approach using direct multiple shooting. We evaluate the computational advantage of the flatness based MPC empirically and document computational acceleration up to 65%.
@article{arxiv.2302.11860,
title = {Flatness-based MPC using B-splines transcription with application to a Pusher-Slider System},
author = {Thomas Neve and Tom Lefebvre and Sander De Witte and Guillaume Crevecoeur},
journal= {arXiv preprint arXiv:2302.11860},
year = {2023}
}