Control Lyapunov–Barrier function based model predictive control for stochastic nonlinear affine systems - Zheng, Weijiang; Zhu, Bing (International journal of robust and nonlinear control, 2024)
Keywords: Control systems; Feedback linearization; Liapunov functions; Nonlinear control; Nonlinear systems; Obstacle avoidance; Optimal control; Predictive control; Stability analysis; Stochastic models; Stochastic processes