{"id":"https://openalex.org/W4392207769","doi":"https://doi.org/10.1109/tcst.2024.3365996","title":"A Terminal State Feasibility Governor for Real-Time Nonlinear Model Predictive Control Over Arbitrary Horizons","display_name":"A Terminal State Feasibility Governor for Real-Time Nonlinear Model Predictive Control Over Arbitrary Horizons","publication_year":2024,"publication_date":"2024-02-27","ids":{"openalex":"https://openalex.org/W4392207769","doi":"https://doi.org/10.1109/tcst.2024.3365996"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2024.3365996","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/tcst.2024.3365996","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035825479","display_name":"Bryan Convens","orcid":"https://orcid.org/0000-0002-5508-9896"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]},{"id":"https://openalex.org/I4210114974","display_name":"IMEC","ror":"https://ror.org/02kcbn207","country_code":"BE","type":"nonprofit","lineage":["https://openalex.org/I4210114974"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Bryan Convens","raw_affiliation_strings":["Mechanical Engineering Department, Vrije Universiteit Brussel, Brussels, Belgium","Interuniversity Microelectronics Institute (IMEC), Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-5508-9896","affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Interuniversity Microelectronics Institute (IMEC), Leuven, Belgium","institution_ids":["https://openalex.org/I4210114974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015002282","display_name":"Dominic Liao\u2010McPherson","orcid":"https://orcid.org/0000-0002-5675-5635"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Dominic Liao-McPherson","raw_affiliation_strings":["Department of Mechanical Engineering, The University of British Columbia, Vancouver, BC, Canada"],"raw_orcid":"https://orcid.org/0000-0002-5675-5635","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of British Columbia, Vancouver, BC, Canada","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083480061","display_name":"Kelly Merckaert","orcid":"https://orcid.org/0000-0002-8326-3249"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]},{"id":"https://openalex.org/I4210114974","display_name":"IMEC","ror":"https://ror.org/02kcbn207","country_code":"BE","type":"nonprofit","lineage":["https://openalex.org/I4210114974"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Kelly Merckaert","raw_affiliation_strings":["Mechanical Engineering Department, Vrije Universiteit Brussel, Brussels, Belgium","Interuniversity Microelectronics Institute (IMEC), Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-8326-3249","affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Interuniversity Microelectronics Institute (IMEC), Leuven, Belgium","institution_ids":["https://openalex.org/I4210114974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010914606","display_name":"Bram Vanderborght","orcid":"https://orcid.org/0000-0003-4881-9341"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]},{"id":"https://openalex.org/I4210114974","display_name":"IMEC","ror":"https://ror.org/02kcbn207","country_code":"BE","type":"nonprofit","lineage":["https://openalex.org/I4210114974"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Bram Vanderborght","raw_affiliation_strings":["Mechanical Engineering Department, Vrije Universiteit Brussel, Brussels, Belgium","Interuniversity Microelectronics Institute (IMEC), Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0003-4881-9341","affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Interuniversity Microelectronics Institute (IMEC), Leuven, Belgium","institution_ids":["https://openalex.org/I4210114974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060438410","display_name":"Marco M. Nicotra","orcid":"https://orcid.org/0000-0003-0456-9766"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marco M. Nicotra","raw_affiliation_strings":["Electrical Computer Energy Engineering Department, University of Colorado Boulder, Boulder, CO, USA","Electrical, Computer, and Energy Engineering Department, University of Colorado Boulder, Boulder, CO, USA"],"raw_orcid":"https://orcid.org/0000-0003-0456-9766","affiliations":[{"raw_affiliation_string":"Electrical Computer Energy Engineering Department, University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]},{"raw_affiliation_string":"Electrical, Computer, and Energy Engineering Department, University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4404,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.80418275,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"32","issue":"4","first_page":"1341","last_page":"1356"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/governor","display_name":"Governor","score":0.7856281995773315},{"id":"https://openalex.org/keywords/terminal","display_name":"Terminal (telecommunication)","score":0.7744293212890625},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6518884897232056},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6427327394485474},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6422738432884216},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5373638272285461},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.5286928415298462},{"id":"https://openalex.org/keywords/new-horizons","display_name":"New horizons","score":0.5064152479171753},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46421101689338684},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42547351121902466},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2491377592086792},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18433308601379395},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.137021005153656},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11833605170249939},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.10085973143577576},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09200325608253479}],"concepts":[{"id":"https://openalex.org/C2781233147","wikidata":"https://www.wikidata.org/wiki/Q3229617","display_name":"Governor","level":2,"score":0.7856281995773315},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.7744293212890625},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6518884897232056},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6427327394485474},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6422738432884216},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5373638272285461},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.5286928415298462},{"id":"https://openalex.org/C2992257854","wikidata":"https://www.wikidata.org/wiki/Q48461","display_name":"New horizons","level":3,"score":0.5064152479171753},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46421101689338684},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42547351121902466},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2491377592086792},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18433308601379395},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.137021005153656},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11833605170249939},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.10085973143577576},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09200325608253479},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tcst.2024.3365996","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/tcst.2024.3365996","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:172245","is_oa":false,"landing_page_url":"https://biblio.vub.ac.be/vubir/a-terminal-state-feasibility-governor-for-realtime-nonlinear-model-predictive-control-over-arbitrary-horizons(457fbaef-8bbd-4317-9164-a337b8dbf65c).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"publishedVersion"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:186344","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.5199999809265137,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320327336","display_name":"Vlaamse regering","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W165896801","https://openalex.org/W388179047","https://openalex.org/W1971044547","https://openalex.org/W1978956894","https://openalex.org/W1990242460","https://openalex.org/W2006109604","https://openalex.org/W2044692146","https://openalex.org/W2049023677","https://openalex.org/W2090935189","https://openalex.org/W2098530662","https://openalex.org/W2115630989","https://openalex.org/W2116128503","https://openalex.org/W2127580532","https://openalex.org/W2134781609","https://openalex.org/W2140063220","https://openalex.org/W2149280292","https://openalex.org/W2153884484","https://openalex.org/W2158051473","https://openalex.org/W2172288363","https://openalex.org/W2344179576","https://openalex.org/W2513988836","https://openalex.org/W2568067235","https://openalex.org/W2617586537","https://openalex.org/W2766621710","https://openalex.org/W2886013082","https://openalex.org/W2900599983","https://openalex.org/W2944951509","https://openalex.org/W2962737507","https://openalex.org/W3138330110","https://openalex.org/W3175651440","https://openalex.org/W3210776573","https://openalex.org/W3216627452","https://openalex.org/W4210834531","https://openalex.org/W4296425769","https://openalex.org/W4312284082","https://openalex.org/W4379741264","https://openalex.org/W4390086912","https://openalex.org/W6631546732","https://openalex.org/W6642962755","https://openalex.org/W6690446307"],"related_works":["https://openalex.org/W1631623342","https://openalex.org/W1779399219","https://openalex.org/W648378158","https://openalex.org/W3083517787","https://openalex.org/W1839440842","https://openalex.org/W4251946813","https://openalex.org/W2885820669","https://openalex.org/W1981727740","https://openalex.org/W2368407738","https://openalex.org/W2143511391"],"abstract_inverted_index":{"This":[0],"article":[1],"introduces":[2],"a":[3,16,50,54,110,146,154,162],"novel":[4],"feasibility":[5,71],"governor":[6,58],"(FG),":[7],"which":[8],"enlarges":[9],"the":[10,67,84,92,124,128,136],"region":[11],"of":[12,15,53,86],"attraction":[13],"(ROA)":[14],"nonlinear":[17,38,107],"model":[18],"predictive":[19],"control":[20,139],"(NMPC)":[21],"setpoint":[22],"regulation":[23],"law":[24],"with":[25,60,109,135,167],"an":[26,87],"arbitrarily":[27],"short":[28],"prediction":[29],"horizon.":[30],"The":[31,141],"efficient":[32],"online":[33],"FG":[34,99],"is":[35,143,170],"developed":[36],"for":[37,176],"systems":[39,108],"subject":[40],"to":[41,72,78,91,96,105,122,172,186],"pointwise-in-time":[42],"state":[43],"and":[44,47,75,149,183,190],"input":[45],"constraints":[46,175],"relies":[48],"on":[49,153],"discrete-time":[51],"solution":[52],"trajectory-based":[55],"explicit":[56],"reference":[57,89],"(ERG)":[59],"Lyapunov-based":[61],"terminal":[62,138],"energy":[63],"constraint.":[64],"It":[65,169],"ensures":[66],"FG-NMPC":[68],"scheme\u2019s":[69],"recursive":[70],"any":[73,177],"target":[74],"asymptotic":[76,181],"stability":[77,182],"constant":[79,187],"targets":[80],"by":[81],"adaptively":[82],"integrating":[83],"derivative":[85],"auxiliary":[88],"applied":[90],"closed-loop":[93],"NMPC.":[94],"Compared":[95],"recently":[97],"published":[98],"schemes,":[100],"this":[101],"scheme":[102,142],"scales":[103],"better":[104],"higher-dimensional":[106],"priori":[111,163],"unknown":[112,164],"constraints,":[113],"as":[114,145],"it":[115],"does":[116],"not":[117],"require":[118,191],"expensive":[119],"offline":[120],"computations":[121],"construct":[123],"feasible":[125],"set":[126,132],"or":[127],"maximal":[129],"output":[130],"admissible":[131],"(MOAS)":[133],"associated":[134],"NMPC\u2019s":[137],"law.":[140],"implemented":[144],"C++":[147],"algorithm":[148],"validated":[150],"through":[151,161],"simulations":[152],"quadrotor":[155],"that":[156],"aggressively":[157],"but":[158],"safely":[159],"flies":[160],"environments":[165],"cluttered":[166],"obstacles.":[168],"shown":[171],"satisfy":[173],"all":[174],"piecewise-continuous":[178],"reference,":[179],"achieve":[180],"zero-offset":[184],"tracking":[185],"constraint-admissible":[188],"targets,":[189],"low":[192],"computational":[193],"effort.":[194],"Supplementary":[195],"video":[196],"material":[197],"can":[198],"be":[199],"found":[200],"at":[201],"<uri":[202],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[203],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://youtu.be/2LSYNwuYpzI</uri>.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-17T08:01:34.144755","created_date":"2025-10-10T00:00:00"}