Adaptive Safety-Critical Control
Adaptive Safety-Critical Control
- New search for: Cohen, Max
- New search for: Belta, Calin
- New search for: Cohen, Max
- New search for: Belta, Calin
In the previous chapter, we discussed how techniques from adaptive control can be used to construct stabilizing controllers for nonlinear systems with uncertain parameters by dynamically adjusting the controller based upon data observed online. In the present chapter, we discuss how the same ideas can be applied to construct controllers that enforce safety, rather than stability specifications. In Sect. 5.1, we define adaptive control barrier functions by extending the notion of adaptive control Lyapunov function that we discussed previously. We further improve this definition by introducing robust adaptive control barrier functions in Sect. 5.2. These notions are first defined for safety constraints with relative degree one with respect to the system dynamics—we extend them for higher relative degrees in Sect. 5.3. We conclude with references, final remarks, and suggestions for further reading in Sect. 5.5.
Document information
Adaptive Safety-Critical Control
synth. Lectures on Computer sci.
2023-05-16
18 pages
Article/Chapter (Book)
Electronic Resource
English
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