A precomputed ISS-CLF/robust-CBF pair yields a real-time QP that approximates robust NMPC with proven ISS and constraint satisfaction for nonlinear systems.
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Input-to-state Stable Approximate Nonlinear Model Predictive Control with Realtime Feasibility
A precomputed ISS-CLF/robust-CBF pair yields a real-time QP that approximates robust NMPC with proven ISS and constraint satisfaction for nonlinear systems.