2 papers
eess.SY2025
Constraint Horizon in Model Predictive Control
Allan Andre Do Nascimento, Han Wang, Antonis Papachristodoulou +1
In this work, we propose a Model Predictive Control (MPC) formulation incorporating two distinct horizons: a prediction horizon and a constraint horizon. This approach enables a de…
eess.SY2024
Probabilistically safe controllers based on control barrier functions and scenario model predictive control
Allan Andre do Nascimento, Antonis Papachristodoulou, Kostas Margellos
Control barrier functions (CBFs) offer an efficient framework for designing real-time safe controllers. However, CBF-based controllers can be short-sighted, resulting in poor perfo…