الملخص
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 constraints. To address these limitations, in this paper we draw inspiration from the recently introduced Taylor-Lagrange Control (TLC) method, and propose an MPC formulation based on a Taylor expansion with Lagrange remainder (MPC-TLR). To enable digital implementation, we develop a numerical approximation of the Lagrange remainder under zero-order-hold control. The resulting safety constraint includes a tunable margin to account for approximation errors and balance safety, feasibility, and conservativeness. Comparisons with MPC using high-order CBFs (MPC-HOCBF), discrete-time high-order CBFs (MPC-DHOCBF), and direct safety constraints (MPC-DC) on a unicycle obstacle-avoidance problem show that MPC-TLR yields safer trajectories than MPC-DHOCBF and MPC-DC, while requiring fewer tuning parameters and being less conservative than MPC-HOCBF. Its broader control-input coverage under the adopted discretization can improve feasibility and control performance for short prediction horizons.
الكلمات المفتاحية
الموضوع
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Liu, S., Wu, L., Xiao, W., Drgoňa, J., & Belta, C. A. (2026). Model Predictive Control for Safety-Critical Systems Using Taylor's Theorem with Lagrange Remainder. https://omanscience.com/ar/articles/model-predictive-control-for-safety-critical-systems-using-taylor-s-theorem-with-lagrange-remainder
MLA 9
Liu, Shuo, et al. "Model Predictive Control for Safety-Critical Systems Using Taylor's Theorem with Lagrange Remainder." https://omanscience.com/ar/articles/model-predictive-control-for-safety-critical-systems-using-taylor-s-theorem-with-lagrange-remainder.
شيكاغو (المؤلف–التاريخ)
Liu, Shuo, Liang Wu, Wei Xiao, Ján Drgoňa, and Calin A. Belta. 2026. "Model Predictive Control for Safety-Critical Systems Using Taylor's Theorem with Lagrange Remainder." https://omanscience.com/ar/articles/model-predictive-control-for-safety-critical-systems-using-taylor-s-theorem-with-lagrange-remainder.
هارفارد
Liu, S., Wu, L., Xiao, W., Drgoňa, J. and Belta, C. A. (2026) 'Model Predictive Control for Safety-Critical Systems Using Taylor's Theorem with Lagrange Remainder', Available at: https://omanscience.com/ar/articles/model-predictive-control-for-safety-critical-systems-using-taylor-s-theorem-with-lagrange-remainder.
فانكوفر
Liu S, Wu L, Xiao W, Drgoňa J, Belta CA. Model Predictive Control for Safety-Critical Systems Using Taylor's Theorem with Lagrange Remainder. https://omanscience.com/ar/articles/model-predictive-control-for-safety-critical-systems-using-taylor-s-theorem-with-lagrange-remainder
IEEE
S. Liu, L. Wu, W. Xiao, J. Drgoňa, and C. A. Belta, "Model Predictive Control for Safety-Critical Systems Using Taylor's Theorem with Lagrange Remainder," https://omanscience.com/ar/articles/model-predictive-control-for-safety-critical-systems-using-taylor-s-theorem-with-lagrange-remainder.