Safe polyhedral tubes for locally convexified MPC

DOI10.1016/J.AUTOMATICA.2021.109791MaRDI QIDQ2665643zbMATH OpenOpenAlexFDO

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

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

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)

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Cites work

• scientific article; zbMATH DE number 3816970 (Why is no real title available?)
• scientific article; zbMATH DE number 780774 (Why is no real title available?)
• 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
• A swarm-based approach to dynamic coverage control of multi-agent systems
• Convex MPC for exclusion constraints
• Distributed MPC for formation of multi-agent systems with collision avoidance and obstacle avoidance
• Efficient numerical methods for nonlinear MPC and moving horizon estimation
• Iterative Solution of Nonlinear Optimal Control Problems
• Reverse convex programming
• The Validity of a Family of Optimization Methods
• The obstacle avoidance motion planning problem for autonomous vehicles: a low-demanding receding horizon control scheme

Cited in

(6)

• Sample-based robust data-enabled predictive control for safe motion planning of unknown systems
• Constrained control for systems on matrix Lie groups with uncertainties
• Convex MPC for exclusion constraints
• Parametrization approach for real-time generation of minimum-effort trajectories via neural network
• Locally convexified rigid tube MPC
• Successive suboptimal model predictive control using sequential convex programming

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