Model Predictive Control for Safety-Critical Systems Using Taylor's Theorem with Lagrange Remainder

США и Запад · вчера

arXiv:2610.06976v1 Announce Type: new Abstract: Safety-critical Model Predictive Control (MPC) formulations based on Control Barrier Functions (CBFs) often require multiple tuning parameters and may become conservative or difficult to keep feasible, particularly for high-relative-degree…

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Model Predictive Control for Safety-Critical Systems Using Taylor's Theorem with Lagrange Remainder

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