Robust Taylor-Lagrange Control for Safety-Critical Systems with Guaranteed Feas
Overview
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.
From arXiv Robotics — research abstracts
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- arXiv Robotics — research abstractsSignalRobust 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.
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