Relaxed Barrier MPC for Path Following in Constrained Environments

机译：在约束环境中的路径下方的轻松屏障MPC

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We examine the path following problem in the framework of relaxed barrier function based model predictive control for linear discrete-time systems. We establish exponential stability of the closed-loop system and ensure strict constraint satisfaction under a certain set of initial conditions. Furthermore, we propose an algorithm that is firstly applied to different maneuvers in automated driving and secondly compared to a trajectory tracking algorithm.

机译：我们研究了基于屏障功能基于模型预测控制的框架框架之后的路径，用于线性离散时间系统。我们建立了闭环系统的指数稳定性，确保在一定的初始条件下严格约束满足。此外，我们提出了一种算法，该算法首先应用于自动驾驶中的不同机动，并其次与轨迹跟踪算法相比。

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《Mediterranean Conference on Control and Automation》|2021年|872-879|共8页
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Fabian Pfitz; Xuyan Hu; Christian Ebenbauer;
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Discrete-time systems; Automation; Trajectory tracking; Stability; Prediction algorithms; Control theory; Closed loop systems;

机译：离散时间系统;自动化;轨迹跟踪;稳定性;预测算法;控制理论;闭环系统;

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1. Input-to-state stability properties of relaxed barrier function based MPC * [J] . Christian Feller, Christian Ebenbauer IFAC PapersOnLine . 2015,第23期

机译：基于松弛障碍函数的MPC的输入状态稳定性属性 *
2. A constrained error-based MPC for path following of quadrotor with stability analysis [J] . Nonlinear dynamics . 2020,第2期

机译：具有稳定性分析的四轮压发电机之路路径的基于约束的基于误差的MPC
3. Robust Constrained Learning-based NMPC enabling reliable mobile robot path tracking [J] . Chris J. Ostafew, Angela P. Schoellig, Timothy D. Barfoot The International journal of robotics research . 2016,第13期

机译：强大的基于约束学习的NMPC，可实现可靠的移动机器人路径跟踪
4. MPCC-based Path Following Control for a Quadrotor with Collision Avoidance Guaranteed in Constrained Environments [C] . Dong Wang, Quan Pan, Jinwen Hu, IEEE International Symposium on Industrial Electronics . 2019

机译：约束环境下四轴转子的基于MPCC的路径跟随控制
5. Multi-Vehicle Path Following and Adversarial Agent Detection in Constrained Environments [D] . Chintalapati, Veera Tarun. 2020

机译：多载体路径跟随和受限环境中的普发阿代理检测
6. Improvement Path for Resource-Constrained Cities Identified Using an Environmental Co-Governance Assessment Framework Based on BWM-mV Model [O] . Jian Wang, Jin-Chun Huang, Shan-Lin Huang, 2021

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7. Path planning for autonomous parafoils using particle chance constrained rapidly-exploring random trees in a computationally constrained environment [O] . Klerman Shoshana 2012

机译：在计算受限的环境中使用粒子机会约束快速探索随机树的自主翼伞的路径规划

Relaxed Barrier MPC for Path Following in Constrained Environments

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