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Weight recentered barrier functions and smooth polytopic terminal set formulations for linear model predictive control | IEEE Conference Publication | IEEE Xplore

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 properti...Show More

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.
Date of Conference: 01-03 July 2015
Date Added to IEEE Xplore: 30 July 2015
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Conference Location: Chicago, IL, USA

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