Locally convexified rigid tube MPC

This paper proposes a locally convexified rigid tube model predictive control for obstacle avoidance for linear, discrete‐time, systems subject to additive, bounded disturbances and state and control constraints. The inherently nonconvex obstacle avoidance constraints are locally convexified and con...

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Vydané v:	IET control theory & applications Ročník 17; číslo 4; s. 446 - 462
Hlavní autori:	Sun, Haidi, Zhang, Sixing, Dai, Li, Raković, Saša V.
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	Stevenage John Wiley & Sons, Inc 01.03.2023 Wiley
Predmet:	Algorithms Chebyshev approximation Constraints Convexity Decomposition Design Discrete time systems Disturbances Euclidean geometry Hyperplanes Integer programming Linear programming Methods Obstacle avoidance Optimization Predictive control Quadratic programming Robust control Separation Systems theory Theorems Tubes
ISSN:	1751-8644, 1751-8652
On-line prístup:	Získať plný text
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