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

被引：91
|
作者：
Lopez, Brett T. [1 ]
Slotine, Jean-Jacques E. [2 ]
How, Jonathan P. [1 ]
机构：
[1] MIT, Aerosp Control Lab, 77 Massachusetts Ave, Cambridge, MA 02139 USA
[2] MIT, Nonlinear Syst Lab, 77 Massachusetts Ave, Cambridge, MA 02139 USA
来源：
IEEE CONTROL SYSTEMS LETTERS | 2021年 / 5卷 / 03期
关键词：
Constrained control; uncertain systems; adaptive control;
D O I：
10.1109/LCSYS.2020.3005923
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：1031 / 1036
页数：6
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