Safe polyhedral tubes for locally convexified MPC

DOI10.1016/J.AUTOMATICA.2021.109791zbMATH Open1478.93175OpenAlexW3177914393MaRDI QIDQ2665643FDOQ2665643

Sixing Zhang, Li Dai, Saša V. Raković, Yuanqing Xia, Yanye Hao

Publication date: 19 November 2021

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2021.109791

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zbMATH Keywords

strictly convex quadratic programmingmodel predictive controlexclusion constraints

Mathematics Subject Classification ID

Quadratic programming (90C20) Convex programming (90C25) Linear systems in control theory (93C05) Model predictive control (93B45)

Cites Work

• Efficient Numerical Methods for Nonlinear MPC and Moving Horizon Estimation
• Reverse convex programming
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• The Validity of a Family of Optimization Methods
• Iterative Solution of Nonlinear Optimal Control Problems
• A swarm-based approach to dynamic coverage control of multi-agent systems
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• A Real-Time Iteration Scheme for Nonlinear Optimization in Optimal Feedback Control
• A globally converging algorithm for reactive robot navigation among moving and deforming obstacles
• The obstacle avoidance motion planning problem for autonomous vehicles: a low-demanding receding horizon control scheme
• Distributed MPC for formation of multi-agent systems with collision avoidance and obstacle avoidance
• Convex MPC for exclusion constraints

Cited In (1)

• Constrained control for systems on matrix Lie groups with uncertainties

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