Unmatched Control Barrier Functions: Certainty Equivalence Adaptive Safety
Name
2207.13873v2.pdf
Description
Accepted version
Size
364.64 KB
Format
Adobe PDF
Checksum (MD5)
5c8dc8a0abc1042f1549f473c06cef9d
Author(s)
Lopez, Brett T.
Slotine, Jean-Jacques E.
Date Issued
May 31, 2023
Publisher
IEEE|2023 American Control Conference (ACC)
Citation
Lopez, Brett T. and Slotine, Jean-Jacques E. 2023. "Unmatched Control Barrier Functions: Certainty Equivalence Adaptive Safety."
Version
Author's final manuscript
Abstract
This work applies universal adaptive control to control barrier functions to achieve safe control of dynamical systems with parametric model uncertainties. The proposed approach utilizes the certainty equivalence principle to methodically select a model-parameterized control barrier function and corresponding safety controller from an allowable set with instantaneous parameter estimates. While such a combination does not necessarily yield forward invariance without additional requirements on the barrier function, we show that safety can indeed be established by simply adjusting the adaptation gain online. Simulation results demonstrate the approach.
Description
IEEE Control Systems Letters paper presented at 2023 American Control Conference (ACC) San Diego, CA, USA. May 31 - June 2, 2023
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-ShareAlike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.23919/acc55779.2023.10156496
