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Adaptive MPC-based quadrupedal robot control under periodic disturbances

arXiv 2505.12361 ↗First posted 18 May 2025cs.RO cs.AI cs.SYcited by 0

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Abstract (arXiv)

Recent advancements in adaptive control for reference trajectory tracking enable quadrupedal robots to perform locomotion tasks under challenging conditions. There are methods enabling the estimation of the external disturbances in terms of forces and torques. However, a specific case of disturbances that are periodic was not explicitly tackled in application to quadrupeds. This work is devoted to the estimation of the periodic disturbances with a lightweight regressor using simplified robot dynamics and extracting the disturbance properties in terms of the magnitude and frequency. Experimental evidence suggests performance improvement over the baseline static disturbance compensation. All source files, including simulation setups, code, and calculation scripts, are available on GitHub at https://github.com/aidagroup/quad-periodic-mpc.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 16 of its 26 references that are in the map. First posted on arXiv 18 May 2025.

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References · 16

  1. 2019Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Controlcited by 54
  2. 2019Learning Fast Adaptation with Meta Strategy Optimizationcited by 48
  3. 2021Adaptive-Control-Oriented Meta-Learning for Nonlinear Systemscited by 39
  4. 2019Adaptive Safety with Control Barrier Functionscited by 25
  5. 2020Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotioncited by 25
  6. 2020Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotioncited by 24
  7. 2017Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupedscited by 20
  8. 2019Bayesian Learning-Based Adaptive Control for Safety Critical Systemscited by 19
  9. 2021Imitation Learning from MPC for Quadrupedal Multi-Gait Controlcited by 18
  10. 2020Asynchronous Deep Model Reference Adaptive Controlcited by 13
  11. 2019Implicit Regularization and Momentum Algorithms in Nonlinearly Parameterized Adaptive Control and Predictioncited by 7
  12. 2021Adaptive CLF-MPC With Application To Quadrupedal Robotscited by 7
4 more
  1. 2020Adaptive Force-based Control for Legged Robotscited by 6
  2. 2019New Results on Parameter Estimation via Dynamic Regressor Extension and Mixing: Continuous and Discrete-time Casescited by 5
  3. 2020Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functionscited by 1
  4. 2024Composite Adaptive Disturbance Rejection in Robotics via Instrumental Variables based DREMcited by 1

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