Locally convexified rigid tube MPC
Abstract 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 convexifie...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2023-03-01
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| Series: | IET Control Theory & Applications |
| Online Access: | https://doi.org/10.1049/cth2.12382 |