Closed-form input-constrained spatiotemporal tubes guarantee finite-time reach-avoid-stay for unknown Euler–Lagrange systems under actuator limits via offline feasibility conditions.
Nonlinear model predictive path following controller with obstacle avoidance.Journal of Intelligent & Robotic Systems, 102(1):16, 2021
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Input-Constrained Spatiotemporal Tubes for Safe Navigation of Unknown Euler-Lagrange Systems in Dynamic Environments
Closed-form input-constrained spatiotemporal tubes guarantee finite-time reach-avoid-stay for unknown Euler–Lagrange systems under actuator limits via offline feasibility conditions.