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Abstract: This paper presents a nonlinear model predictive control (NMPC) scheme based on sequential convex programming (SCP). We propose a modified SCP algorithm for nonlinear MPC that adaptively ...
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 ...