Given an instance of the Steiner tree problem together with an optimal solution, we consider the scenario where this instance is modified locally by adding one of the vertices to the terminal set or removing one vertex from it.
This allows us to eliminate the state space constraint by extending the terminal set to include the guard (v_{2}=V_{G}).
A set of random float type constants between 0.0 and 5.0, 0.0 and 50.0 and, 0.0 and 500.0 were defined as the terminal set [ 10], as well as the aforementioned 5 input parameters (n, fs, N, s, m ).
The terminal set is ensured to be positively invariant with the designed terminal controller.
The correction term is computed if the states are out of the terminal set and the free-parameters of the local control law are computed if the states are in the terminal set.
The collision avoidance constraint and the obstacle avoidance constraint are satisfied for any state in the terminal set.
Using the "terminal set-terminal cost" design, the states are forced to attain the maximal delayed-state admissible set at the end of the prediction horizon.
In addition, a local homogeneous Lyapunov function is constructed based on which the approach to designing the terminal set and other parameters are developed.
By proposing the multi-step control set and using it as the terminal set, a new design method of robust model predictive control (MPC) is presented for the constrained polyhedral uncertain systems.
The terminal set consists of programs' inputs (also referred to as features or attributes) or (ephemeral random) constants [67].
The function set used was limited to (+, −, *, / and √) while the terminal set was the input parameters for each model in addition to machine randomly generated constants.
