Nonlinear Dynamic Modeling and Receding-Horizon NMPC of an Electric Unicycle on a Tensioned Cable

arXiv:2609.24299 · eess.SY, cs.SY · Submitted 2026-09-21 · Read on arXiv

eess.SY, cs.SY

Submitted: 2026-09-21

Updated: 2026-09-21

Terminology

• Robustness — 9× in this paper · explained in 5 episodes
• Accuracy — 6× in this paper · explained in 1 episode
• Core — 5× in this paper · explained in 2 episodes
• Computational Tractability — 4× in this paper · explained in 2 episodes
• Benchmark — 3× in this paper · explained in 2 episodes
• Dynamic Modeling — 3× in this paper · explained in 3 episodes
• Frozen model — 2× in this paper · explained in 3 episodes
• Benchmarking — 1× in this paper · explained in 3 episodes
• Closed-Loop Control — 1× in this paper · explained in 3 episodes
• Computational overhead — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Generative AI — 1× in this paper · explained in 2 episodes
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Nonlinear Model Predictive Control (NMPC) — 1× in this paper · explained in 3 episodes
• Objective Function — 1× in this paper · explained in 2 episodes
• Sparsity — 1× in this paper · explained in 4 episodes
• Uncertainty Quantification — 1× in this paper · explained in 8 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes

Sources

• A Non-linear MPC Local Planner for Tractor-Trailer Vehicles in Forward and Backward Maneuvering
• Unifying Sequential Quadratic Programming and Linear-Parameter-Varying Algorithms for Real-Time Model Predictive Control

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