Replication of the paper titled 'Economic model predictive control for snake robot locomotion', in 58th CDC.
The paper is refered as follow.
[1]. E. Müller, P. N. Köhler, K. Y. Pettersen and F. Allgöwer, “Economic model predictive control for snake robot locomotion”, 2019 IEEE 58th Conference on Decision and Control (CDC), Nice, France, December 11-13, 2019, pp. 9702-9708.
.m File "PaperMPCReProd.m" is the main file.
.m file "MPC_Modelling.m" is the simplified model of snake robot.