Robust Adaptive Control Barrier Functions: An Adaptive and Data-Driven Approach to Safety
Name
2003.10028.pdf
Description
Accepted version
Size
2.14 MB
Format
Adobe PDF
Checksum (MD5)
51cb9c5acc1c43278bddc368844f59c6
Author(s)
Lopez, Brett T
Slotine, Jean-Jacques E
How, Jonathan P
Date Issued
2021
Journal
IEEE Control Systems Letters
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Version
Author's final manuscript
Abstract
© 2017 IEEE. A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainty. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new adaptive data-driven safety paradigm is merged with a recent adaptive controller for systems nominally contracting in closed-loop. This unification is more general than other safety controllers as contraction does not require the system be invertible or in a particular form. The method is tested on the pitch dynamics of an aircraft with uncertain nonlinear aerodynamics.
MIT Department
Massachusetts Institute of Technology. Aerospace Controls Laboratory
Massachusetts Institute of Technology. Nonlinear Systems Laboratory
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/LCSYS.2020.3005923
