Model Predictive Contouring Control With Barrier and Lyapunov Functions for Stable Path-Following in UAV Systems
In this study, we propose a novel method that integrates Nonlinear Model Predictive Contour Control (NMPCC) with an Exponentially Stabilizing Control Lyapunov Function (ES-CLF) and Exponential Higher-Order Control Barrier Functions to achieve stable path-following and obstacle avoidance in UAV syste...
Furkejuvvon:
| Váldodahkkit: | , , , , , |
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| Materiálatiipa: | Artigo |
| Giella: | Inglês |
| Almmustuhtton: |
IEEE
2025-01-01
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| Ráidu: | IEEE Access |
| Fáttát: | |
| Liŋkkat: | https://ieeexplore.ieee.org/document/11049658/ |
| Fáddágilkorat: |
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