A backstepping-derived reach-avoid invariant set serves as the terminal constraint in sampled-data MPC, proving recursive feasibility and safe steering to the target for continuous nonlinear systems under input constraints and fast sampling.
Computing controlled invariant sets for hybrid systems with applications to model-predictive control
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Reach-Avoid Model Predictive Control with Guaranteed Recursive Feasibility via Input Constrained Backstepping
A backstepping-derived reach-avoid invariant set serves as the terminal constraint in sampled-data MPC, proving recursive feasibility and safe steering to the target for continuous nonlinear systems under input constraints and fast sampling.