Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Enhancing Feasibility and Safety of Nonlinear Model Predictive Control
  with Discrete-Time Control Barrier Functions   Safety is one of the fundamental problems in robotics. Recently, one-step or
multi-step optimal control problems for discrete-time nonlinear dynamical
system were formulated to offer tracking stability using control Lyapunov
functions (CLFs) while subject to input constraints as well as safety-critical
constraints using control barrier functions (CBFs). The limitations of these
existing approaches are mainly about feasibility and safety. In the existing
approaches, the feasibility of the optimization and the system safety cannot be
enhanced at the same time theoretically. In this paper, we propose two
formulations that unifies CLFs and CBFs under the framework of nonlinear model
predictive control (NMPC). In the proposed formulations, safety criteria is
commonly formulated as CBF constraints and stability performance is ensured
with either a terminal cost function or CLF constraints. Slack variables with
relaxing technique are introduced on the CBF constraints to resolve the
tradeoff between feasibility and safety so that they can be enhanced at the
same. The advantages about feasibility and safety of proposed formulations
compared with existing methods are analyzed theoretically and validated with
numerical results.

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The categories of this paper are: q-bio
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The categories of this paper are: chem-ph
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The categories of this paper are: nucl-th
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The categories of this paper are: astro-ph
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The categories of this paper are: nucl-ex
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The categories of this paper are: alg-geom
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The categories of this paper are: physics
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The categories of this paper are: gr-qc
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The categories of this paper are: q-fin
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The categories of this paper are: nlin
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The categories of this paper are: solv-int
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The categories of this paper are: econ
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The categories of this paper are: supr-con
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The categories of this paper are: math-ph
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The categories of this paper are: patt-sol
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The categories of this paper are: hep-th