DRMPC Plus
🌐 Project Website | 📄 Download Report (PDF)
This project was completed for the Columbia University EE6907_001 TPCS-ELEC & COMPUT ENGINEERING: Model Predictive Control course (Spring 2025).
In collaboration with Xinhe Yang, we reproduced and extended the following work to enable a mobile robot to reject input disturbances in both discrete and continuous environments:
“Disturbance Rejection MPC for Tracking of Wheeled Mobile Robot”
Z. Sun, Y. Xia, L. Dai, IEEE/ASME Transactions on Mechatronics, 2017
📄 IEEE Xplore
🔁 Reproduced from the original paper:
- DRMPC algorithm implemented in MATLAB
- Discrete-time simulation under the same experimental setup as the original paper
- Performance comparison of DRMPC under different disturbance observer (DOB) configurations
🔧 Refined and extended:
- Simulink implementation for continuous-time simulation
- Performance comparison in continuous environments
- Shortened Horizon Refinement for real-time deployment
- Asynchronous control simulation to better approximate real-world continuous control
- Robustness evaluation under non-harmonic (Gaussian) noise
As the team leader of this project, my contributions include:
- Implementing the original algorithm
- Conducting all extended experiments
- Preparation for slides
- Presenting the MPC methodology for the final course presentation
All algorithms were developed in MATLAB and Simulink.