An MPC controller with a terminal CBF constraint provably increases feasibility and reachable sets with longer horizons and reduces infeasible points by 1.7-2.7 times in nonholonomic simulations.
Safety-critical model predictive control with discrete-time control barrier function
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Maximal Controlled Invariant-MPC: Enhancing Feasibility and Reducing Conservatism through Terminal CBF Constraint in Safety-Critical Control
An MPC controller with a terminal CBF constraint provably increases feasibility and reachable sets with longer horizons and reduces infeasible points by 1.7-2.7 times in nonholonomic simulations.