Discrete-time Control Barrier Functions for Guaranteed Recursive Feasibility in Nonlinear MPC: An Application to Lane Merging.
Alexander KatriniokErfan ShakhesiW. P. M. H. HeemelsPublished in: CoRR (2023)
Keyphrases
- linear quadratic
- optimal control
- mpc algorithm
- closed loop
- highly nonlinear
- dynamical systems
- vector valued
- control system
- model predictive control
- feedback control
- robot control
- nonlinear dynamics
- adaptive neural
- receding horizon
- neural network
- linear time invariant
- multi valued
- nonlinear functions
- tracking control
- detection algorithm
- mobile robot