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eess.SY2022
A Consistency Constraint-Based Approach to Coupled State Constraints in Distributed Model Predictive Control
Adrian Wiltz, Fei Chen, Dimos V. Dimarogonas
In this paper, we present a distributed model predictive control (DMPC) scheme for dynamically decoupled systems which are subject to state constraints, coupling state constraints…
eess.SY2022
Handling Disjunctions in Signal Temporal Logic Based Control Through Nonsmooth Barrier Functions
Adrian Wiltz, Dimos V. Dimarogonas
For a class of spatio-temporal tasks defined by a fragment of Signal Temporal Logic (STL), we construct a nonsmooth time-varying control barrier function (CBF) and develop a contro…