Robust Adaptive Control Barrier Functions: An Adaptive and Data-Driven Approach to Safety

Author(s)
Lopez, Brett T; Slotine, Jean-Jacques E; How, Jonathan P
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Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/
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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.
Date issued
2021
URI
https://hdl.handle.net/1721.1/135249
Department
Massachusetts Institute of Technology. Aerospace Controls Laboratory; Massachusetts Institute of Technology. Nonlinear Systems Laboratory; Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Journal
IEEE Control Systems Letters
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
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