# Flatness-based MPC using B-splines transcription with application to a Pusher-Slider System

## TL;DR

This paper introduces a flatness-based MPC approach using B-splines transcription for a pusher-slider system, significantly reducing computational load and enabling real-time control.

## Contribution

It presents a novel flatness-based B-spline MPC method that improves computational efficiency over standard approaches for pusher-slider manipulation.

## Key findings

- Achieves up to 65% reduction in computation time
- Demonstrates effectiveness in simulation
- Validates approach for real-time control

## Abstract

This work discusses the use of model predictive control (MPC) for the manipulation of a pusher-slider system. In particular we leverage the differential flatness of the pusher-slider in combination with a B-splines transcription to address the computational demand that is typically associated to real-time implementation of an MPC controller. We demonstrate the flatness based B-spline MPC controller in simulation and compare it to a standard MPC implementation approach using direct multiple shooting. We evaluate the computational advantage of the flatness based MPC empirically and document computational acceleration up to 65%.