8 papers
Zonotope-Based Elastic Tube Model Predictive Control
Sabin Diaconescu, Florin Stoican, Bogdan D. Ciubotaru +1
Tube-based Model Predictive Control (MPC) is a widely adopted robust control framework for constrained linear systems under additive disturbance. The paper is focused on reducing t…
Data-Driven Tube-Based Zonotopic Predictive Control With Nonconvex Layered Terminal Sets
Zhen Zhang, Bogdan Gheorghe, Florin Stoican +1
This paper presents a data-driven tube-based zonotopic predictive control (DTZPC) framework with nonconvex layered terminal sets. Existing DTZPC schemes with closed-loop guarantees…
Inclusion conditions for the Constrained Polynomial Zonotopic case
Bogdan Gheorghe, Amr Alanwar, Florin Stoican
Set operations are well understood for convex sets but become considerably more challenging in the non-convex case due to the loss of structural properties in their representation.…
On maximal positive invariant set computation for rank-deficient linear systems
Bogdan Gheorghe, Daniel Ioan, Cristian Flutur +2
The maximal positively invariant (MPI) set is obtained through a backward reachability procedure involving the iterative computation and intersection of predecessor sets under stat…
Safe Navigation in Cluttered Environments Via Spline-Based Harmonic Potential Fields
Theodor-Gabriel Nicu, Florin Stoican, Daniel-Mihail Ioan +1
We provide a complete motion-planning mechanism that ensures target tracking and obstacle avoidance in a cluttered environment. For a given polyhedral decomposition of the feasible…
Tight displacement-based formation control under bounded disturbances. A set-theoretic perspective
Vlad-Matei AngheluÅ£Ä, Bogdan Gheorghe, Daniel Ioan +2
This paper investigates the synthesis of controllers for displacement-based formation control in the presence of bounded disturbances, specifically focusing on uncertainties origin…