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

• Published in: IEEE 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
• Language: English
• Published: IEEE 01.07.2021
• Subjects: Adaptation models; Adaptive control; Aerodynamics; Constrained control; Nonlinear dynamical systems; Safety; uncertain systems; Uncertainty

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...