Feasibility-Guided Learning for Robust Control in Constrained Optimal Control Problems

6 Dec 2019Wei XiaoCalin A. BeltaChristos G. Cassandras

Optimal control problems with constraints ensuring safety and convergence to desired states can be mapped onto a sequence of real time optimization problems through the use of Control Barrier Functions (CBFs) and Control Lyapunov Functions (CLFs). One of the main challenges in these approaches is ensuring the feasibility of the resulting quadratic programs (QPs) if the system is affine in controls... (read more)

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