Robust Taylor-Lagrange Control for Safety-Critical Systems with Guaranteed Feasibility
Robust Taylor-Lagrange Control for Safety-Critical Systems with Guaranteed Feasibility
This research proposes a robust Taylor-Lag, control (rTLC) method to address feasibility preservation in safety-critical systems. By expanding the safety function with a higher-order Taylor expansion and Lagrange remainder, the method ensures safety constraints are satisfied over the entire discretization time interval. The approach is demonstrated on an adaptive cruise control problem and compared with existing safety-critical control methods.
This paper introduces a robust Taylor-Lagrange Control (rTLC) method that addresses feasibility preservation in safety-critical systems by expanding the safety function with a higher-order Taylor expansion and Lagrange remainder. The approach provides a necessary and sufficient condition for safety, improving upon existing methods like CBF and TLC by reducing the number of hyper-parameters needed.
Source: arXiv Robotics — research abstracts · Read original article ↗
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feasibility preservation problem (e.g., due to the inter-sampling effect when time is discretized). In this paper, we propose a robust TLC (rTLC) method to address the feasibility preservation problem and show how to use it to solve optimal control problems. Specifically, the rTLC method expands the safety function to an order higher than its relative degree using Taylor's expansion with Lagrange remainder, which al
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lows the control to explicitly show up at the current time instead of a future time in the original TLC method. This implies that the safety constraint remains satisfied over the entire discretization time interval that follows. Moreover, the rTLC method naturally addresses the feasibility preservation problem with only a single hyper-parameter (the discretization time interval size during implementation), compared t
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o significantly more parameters for its counterparts. Finally, we illustrate the effectiveness of the proposed rTLC method through an adaptive cruise control problem, and compare it with existing safety-critical control methods.
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arXiv:2602.20076v2 Announce Type: replace-cross Abstract: The Control Barrier Function (CBF) method has been widely adopted in solving safety-critical control problems. However, the existence of a CBF is only a sufficient condition for system safety. The recently proposed Taylor-Lagrange Control (TLC) method addresses this limitation by providing a necessary and sufficient condition, but it is still vulnerable to the
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Source：arXiv Robotics — research abstracts · arxiv.org