Author

Wei Xiao

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Preprint Oct 2026

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...

Shuo Liu, Liang Wu, Wei Xiao et al. · 0 citations

Preprint Sep 2026

DR-MPC: Fast and Feasible Dynamics-Relaxed Model-Predictive Control for Legged Locomotion

This paper presents dynamics-relaxed model predictive control (DR-MPC), a novel MPC formulation for legged locomotion, and a tailored interior-point method (IPM) solver. The formulation combines online optimization feasibility by construction with a contact-aware input parameterization. DR-MPC moves the dynamics equali...

Run Wang, Alapati Tuerxun, Shuo Liu et al. · 0 citations