Control Lyapunov–Barrier function based model predictive control for stochastic nonlinear affine systems
Weijiang Zheng,
Bing Zhu
Abstract: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 unconstrained control Lyapunov function (CLF) and control barrier functions. The unconstrained CLF is obtained from its corresponding semi‐linear system through dynamic feedback linearization. Based on the constructed CLBF… Show more
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