Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: MPC-Based Hierarchical Task Space Control of Underactuated and
  Constrained Robots for Execution of Multiple Tasks   This paper proposes an MPC-based controller to efficiently execute multiple
hierarchical tasks for underactuated and constrained robotic systems. Existing
task-space controllers or whole-body controllers solve instantaneous
optimization problems given task trajectories and the robot plant dynamics.
However, the task-space control method we propose here relies on the prediction
of future state trajectories and the corresponding costs-to-go terms over a
finite time-horizon for computing control commands. We employ acceleration
energy error as the performance index for the optimization problem and extend
it over the finite-time horizon of our MPC. Our approach employs quadratically
constrained quadratic programming, which includes quadratic constraints to
handle multiple hierarchical tasks, and is computationally more efficient than
nonlinear MPC-based approaches that rely on nonlinear programming. We validate
our approach using numerical simulations of a new type of robot manipulator
system, which contains underactuated and constrained mechanical structures.

2
The categories of this paper are: math
14
The categories of this paper are: math-ph
13
The categories of this paper are: quant-ph
0
The categories of this paper are: hep-ph
21
The categories of this paper are: adap-org
5
The categories of this paper are: gr-qc
22
The categories of this paper are: chao-dyn
4
The categories of this paper are: cond-mat
29
The categories of this paper are: funct-an
7
The categories of this paper are: hep-th
32
The categories of this paper are: atom-ph
24
The categories of this paper are: dg-ga
18
The categories of this paper are: econ
6
The categories of this paper are: astro-ph
23
The categories of this paper are: solv-int
17
The categories of this paper are: q-fin