In this research, we deal with model predictive control problem with disturbances based on Signal Temporal Logic specifications. In this paper, we theoretically analyze the feasibility of model predictive control problems and derive sufficient conditions for recursive feasibility. The proposed algorithm has the advantage that recursive feasibility can be determined in advance (by initial conditions). Finally, we show the effectiveness of the proposed method by confirming that the theoretical and numerical results agree with each other under generic vehicle driving scenarios, using self-driving cars.


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    Title :

    Model Predictive Control Algorithm Based on Signal Temporal Logic Specifications with Disturbances Guaranteeing Feasibility


    Contributors:


    Publication date :

    2024-10-07


    Size :

    3364190 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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