A differentially flatness-based learning MPC for multi-input control-affine systems that satisfies input and half-space state constraints and guarantees probabilistic Lyapunov decrease using two sequential convex programs.
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Exploiting Differential Flatness for Efficient Learning-based Model Predictive Control of Constrained Multi-Input Control Affine Systems
A differentially flatness-based learning MPC for multi-input control-affine systems that satisfies input and half-space state constraints and guarantees probabilistic Lyapunov decrease using two sequential convex programs.