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

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 ad...

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Bibliographic Details
Published inIEEE control systems letters Vol. 5; no. 3; pp. 1031 - 1036
Main Authors Lopez, Brett T., Slotine, Jean-Jacques E., How, Jonathan P.
Format Journal Article
LanguageEnglish
Published IEEE 01.07.2021
Subjects
Adaptation models
Adaptive control
Aerodynamics
Constrained control
Nonlinear dynamical systems
Safety
uncertain systems
Uncertainty
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Summary: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.
ISSN:2475-1456
2475-1456
DOI:10.1109/LCSYS.2020.3005923