ML p(r)ior | A Provably Correct MPC Approach to Safety Control of Urban Traffic Networks

A Provably Correct MPC Approach to Safety Control of Urban Traffic Networks

2016-02-02
1602.01028 | cs.SY
Model predictive control (MPC) is a popular strategy for urban traffic management that is able to incorporate physical and user defined constraints. However, the current MPC methods rely on finite horizon predictions that are unable to guarantee desirable behaviors over long periods of time. In this paper we design an MPC strategy that is guaranteed to keep the evolution of a network in a desirable yet arbitrary -safe- set, while optimizing a finite horizon cost function. Our approach relies on finding a robust controlled invariant set inside the safe set that provides an appropriate terminal constraint for the MPC optimization problem. An illustrative example is included.
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