Control Lyapunov–Barrier function based model predictive control for stochastic nonlinear affine systems

• Published in: International journal of robust and nonlinear control Vol. 34; no. 1; pp. 91 - 113
• Main Authors: Zheng, Weijiang, Zhu, Bing
• Format: Journal Article
• Language: English
• Published: Bognor Regis Wiley Subscription Services, Inc 10.01.2024
• Subjects: Control systems; Feedback linearization; Liapunov functions; Nonlinear control; Nonlinear systems; Obstacle avoidance; Optimal control; Predictive control; Stability analysis; Stochastic models; Stochastic processes

A stochastic model predictive control (MPC) framework is presented in this paper for nonlinear affine systems with stability and feasibility guarantee. We first introduce the concept of stochastic control Lyapunov–Barrier function (CLBF) and provide a method to construct CLBF by combining an unconst...