نسخة أولية وصول مفتوح
Model Predictive Control for Safety-Critical Systems Using Taylor's Theorem with Lagrange Remainder
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 fro …