Name
Title | ||
|---|---|---|
Weight recentered barrier functions and smooth polytopic terminal set formulations for linear model predictive control |
Abstract | ||
|---|---|---|
In the context of barrier function based model predictive control, a suitable recentering of the underlying barrier functions is essential for ensuring stability properties of the closed-loop system. We present a novel method for the recentering of logarithmic barrier functions which can be applied to a wide class of problems. In contrast to existing approaches, the recentering is achieved by a suitable weighting of the respective barrier functions and does not involve any gradient terms. In addition, a new approach towards the design of stabilizing barrier function based linear MPC formulations with polytopic terminal sets is presented which demonstrates possible benefits of the new recentering procedure. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/ACC.2015.7170969 | ACC |
Field | DocType | ISSN |
Weighting,Optimal control,Computer science,Linear model,Control theory,Model predictive control,Control engineering,Exponential stability,Barrier function,Logarithm | Conference | 0743-1619 |
ISBN | Citations | PageRank |
978-1-4799-8685-9 | 5 | 0.54 |
References | Authors | |
9 | 2 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Feller, C. | 1 | 15 | 2.90 |
| Christian Ebenbauer | 2 | 200 | 30.31 |