Electronic Resource
Discrete-time Control Barrier Functions for Guaranteed Recursive Feasibility in Nonlinear MPC: An Application to Lane Merging
| العنوان: | Discrete-time Control Barrier Functions for Guaranteed Recursive Feasibility in Nonlinear MPC: An Application to Lane Merging |
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| المؤلفون: | Katriniok, Alexander, Shakhesi, Erfan, Heemels, W.P.M.H. |
| المصدر: | 2023 62nd IEEE Conference on Decision and Control, CDC 2023, p.3776-3783. Institute of Electrical and Electronics Engineers. |
| بيانات النشر: | Institute of Electrical and Electronics Engineers 2024 |
| Added Details: | Katriniok, Alexander |
| نوع الوثيقة: | Electronic Resource |
| مستخلص: | In this paper, we present conditions under which the terminal ingredients, defined by discrete-time control barrier function (DTCBF) certificates, guarantee recursive feasibility in nonlinear MPC. Further, we introduce the notion of quasi-DTCBF (qDTCBF) certificates. Compared to DTCBFs, qDTCBF conditions can be satisfied with tighter control input bounds, which is highly advantageous if only limited actuation is possible. Both certificates encourage an earlier reaction of the control system and result in a lower cumulative MPC cost. The methodology is applied to a lane merging problem in automated driving, in which DTCBF and qDTCBF certificates subject to input constraints form the terminal ingredients to guarantee recursive feasibility of the nonlinear MPC scheme. A simulation study demonstrates the efficacy of the concept. |
| مصطلحات الفهرس: | Model Predictive Control, Control Barrier Functions, Recursive feasibility, Lane Merging, Conferentiebijdrage, Conference contribution |
| URL: | |
| الاتاحة: | Open access content. Open access content info:eu-repo/semantics/openAccess |
| ملاحظة: | DOI: 10.1109/CDC49753.2023.10384157 2023 62nd IEEE Conference on Decision and Control, CDC 2023, p.3776-3783. Institute of Electrical and Electronics Engineers. English |
| Other Numbers: | NLTUR oai:pure.tue.nl:publications/5238a362-c862-4117-b733-194262e916da https://research.tue.nl/en/publications/5238a362-c862-4117-b733-194262e916da 1422740903 |
| المصدر المساهم: | TU/E REPOSITORY From OAIster®, provided by the OCLC Cooperative. |
| رقم الانضمام: | edsoai.on1422740903 |
| قاعدة البيانات: | OAIster |
| الوصف غير متاح. |