Observed Control - Linearly Scalable Nonlinear Model Predictive Control with Adaptive Horizons

arXiv:2508.13339 · math.OC, cs.RO, cs.SY, eess.SY · Submitted 2025-08-18 · Read on arXiv

math.OC, cs.RO, cs.SY, eess.SY

Submitted: 2025-08-18

Updated: 2026-09-21

Project page: https://acado.github.io/documentation.html

Terminology

• Objective Function — 12× in this paper · explained in 2 episodes
• Benchmark — 4× in this paper · explained in 2 episodes
• Loss Function — 3× in this paper · explained in 2 episodes
• Steering — 2× in this paper · explained in 2 episodes
• Theoretical Guarantees — 2× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Closed-Loop System — 1× in this paper · explained in 4 episodes
• Core — 1× in this paper · explained in 2 episodes
• Covariance Propagation — 1× in this paper · explained in 2 episodes
• Curse of Dimensionality — 1× in this paper · explained in 6 episodes
• Hybrid System — 1× in this paper · explained in 2 episodes
• Lyapunov function — 1× in this paper · explained in 2 episodes
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Model Predictive Path Integral (MPPI) — 1× in this paper · explained in 3 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Robustness — 1× in this paper · explained in 5 episodes

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