Author

Jan Olucak

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Jul 2026

Input-to-state Stable Approximate Nonlinear Model Predictive Control with Realtime Feasibility

In this paper, a computationally lightweight approximate robust nonlinear model predictive control (NMPC) law is proposed based on a pair of input-to-state control Lyapunov function and robust control barrier function. The result builds upon and augments a recently introduced nominal infinitesimal- horizon NMPC scheme...

Jan Olucak, Torbjørn Cunis · arXiv.org · 0 citations