Constraint-Unified MPC for Over-Actuated Surface Vehicles with Post-Detection Fault Reconfiguration

arXiv:2609.21046 · cs.RO, cs.SY, eess.SY · Submitted 2026-09-17 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-09-17

Updated: 2026-09-17

Terminology

• Model Predictive Control — 9× in this paper
• Allocator — 3× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• PID Controller — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Trace — 1× in this paper · explained in 2 episodes

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