High Order Robust Adaptive Control Barrier Functions and Exponentially Stabilizing Adaptive Control Lyapunov Functions
This paper studies the problem of utilizing data-driven adaptive control techniques to guarantee stability and safety of uncertain nonlinear systems with high relative degree. We first introduce the notion of a High Order Robust Adaptive Control Barrier Function (HO-RaCBF) as a means to compute control policies guaranteeing satisfaction of high relative degree safety constraints in the face of parametric model uncertainty. The developed approach guarantees safety by initially accounting for all possible parameter realizations but adaptively reduces uncertainty in the parameter estimates leveraging data recorded online. We then introduce the notion of an Exponentially Stabilizing Adaptive Control Lyapunov Function (ES-aCLF) that leverages the same data as the HO-RaCBF controller to guarantee exponential convergence of the system trajectory. The developed HO-RaCBF and ES-aCLF are unified in a quadratic programming framework, whose efficacy is showcased via two numerical examples that, to our knowledge, cannot be addressed by existing adaptive control barrier function techniques.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
Survey Paper on Control Barrier Functions
Control Barrier Functions (CBFs) have emerged as a powerful paradigm in control theory, providing a principled approach to enforcing safety-critical constraints in dynamic systems. This survey paper comprehensively explo…
SurveyAuxiliary-Variable Adaptive Control Barrier Functions
This paper addresses the challenge of ensuring safety and feasibility in control systems using Control Barrier Functions (CBFs). Existing CBF-based Quadratic Programs (CBF-QPs) often encounter feasibility issues due to m…
Online Learning-Enhanced High Order Adaptive Safety Control
Control barrier functions (CBFs) are an effective model-based tool to formally certify the safety of a system. With the growing complexity of modern control problems, CBFs have received increasing attention in both optim…
Decentralized Vehicle Coordination and Lane Switching without Switching of Controllers
This paper proposes a controller for safe lane change manoeuvres of autonomous vehicles using high-order control barrier and Lyapunov functions. The inputs are calculated using a quadratic program (CLF-CBF-QP) which admi…
Autonomous VehiclesCollision AvoidanceRobust Safe Control Synthesis with Disturbance Observer-Based Control Barrier Functions
In a complex real-time operating environment, external disturbances and uncertainties adversely affect the safety, stability, and performance of dynamical systems. This paper presents a robust stabilizing safety-critical…