MPC Based Linear Equivalence with Control Barrier Functions for VTOL-UAVs
ACC（2024）
关键词
Model Predictive Control,Linear Equivalent,Control Barrier Functions,Linear Model,Numerical Simulations,Control Input,Linear Approximation,Unmanned Aerial Vehicles,Quadratic Programming,Linear Dynamics,Quadratic Programming Problem,Closed-loop Stability,Safe Navigation,Vertical Take-off,Control System,Dynamic Model,Center Of Mass,Nonlinear Model,Feedback Control,Nonlinear Dynamics,Obstacle Avoidance,Safety Constraints,Lie Derivative,Vector Field,Prediction Horizon,Multi-input Multi-output,Feedback Signal,Euclidean Norm,Runge Kutta,Stability Guarantees
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