Abstract: In its standard formulation, the control barrier function (CBF) method scales poorly as the order of the system dynamics increases. On the one hand, the need of recursively extending the ...
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Abstract: 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 ...
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