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A Unified Framework for Online Data-Driven Predictive Control with Robust Safety Guarantees
Despite great successes, model predictive control (MPC) relies on an accurate dynamical model and requires high onboard computational power, impeding its wider adoption in engineering systems, especially for nonlinear real-time systems with limited computation power.
Extended Neighboring Extremal Optimal Control with State and Preview Perturbations
In this work, an extended NE (ENE) framework is developed to systematically adapt the nominal control to both state and preview perturbations.
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