Robust Taylor-Lagrange Control for Safety-Critical Systems with Guaranteed Feasibility

The paper introduces a robust Taylor‑Lagrange Control (rTLC) method that extends the safety function to a higher order using Taylor’s expansion with Lagrange remainder. This approach ensures that safety constraints remain satisfied throughout each discretization interval, thereby preserving feasibility in safety‑critical control problems. The authors demonstrate the effectiveness of rTLC on an adaptive cruise control scenario and compare it with existing methods.

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• safety