Robust Adaptive Control for Safety-Critical Systems via Control Barrier Functions

Hao Xu; Liangyu Zhao; Zhongjiao Shi

doi:10.1109/CAC57257.2022.10054828

Robust Adaptive Control for Safety-Critical Systems via Control Barrier Functions

Hao Xu, Liangyu Zhao, Zhongjiao Shi^*

^*Corresponding author for this work

School of Aerospace Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

A robust adaptive control framework for the safety-critical system is developed in this paper, which can guarantee the asymptotic stability of the system and the safety of the parameter estimation. First, the robust adaptive law is constructed using the control barrier functions to cinch the forward invariance of the safety set of the parameter estimation. Then, the auxiliary control input is introduced into the control architecture to ensure the asymptotic stability of the system. Last, numerical simulations based on quadratic programs are performed to depict the effectiveness and superiority of the method.

Original language	English
Title of host publication	Proceedings - 2022 Chinese Automation Congress, CAC 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1745-1749
Number of pages	5
ISBN (Electronic)	9781665465335
DOIs	https://doi.org/10.1109/CAC57257.2022.10054828
Publication status	Published - 2022
Event	2022 Chinese Automation Congress, CAC 2022 - Xiamen, China Duration: 25 Nov 2022 → 27 Nov 2022

Publication series

Name	Proceedings - 2022 Chinese Automation Congress, CAC 2022
Volume	2022-January

Conference

Conference	2022 Chinese Automation Congress, CAC 2022
Country/Territory	China
City	Xiamen
Period	25/11/22 → 27/11/22

Keywords

adaptive control
control barrier functions
quadratic program
safety-critical system

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1109/CAC57257.2022.10054828

Cite this

Xu, H., Zhao, L., & Shi, Z. (2022). Robust Adaptive Control for Safety-Critical Systems via Control Barrier Functions. In Proceedings - 2022 Chinese Automation Congress, CAC 2022 (pp. 1745-1749). (Proceedings - 2022 Chinese Automation Congress, CAC 2022; Vol. 2022-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CAC57257.2022.10054828

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title = "Robust Adaptive Control for Safety-Critical Systems via Control Barrier Functions",

abstract = "A robust adaptive control framework for the safety-critical system is developed in this paper, which can guarantee the asymptotic stability of the system and the safety of the parameter estimation. First, the robust adaptive law is constructed using the control barrier functions to cinch the forward invariance of the safety set of the parameter estimation. Then, the auxiliary control input is introduced into the control architecture to ensure the asymptotic stability of the system. Last, numerical simulations based on quadratic programs are performed to depict the effectiveness and superiority of the method.",

keywords = "adaptive control, control barrier functions, quadratic program, safety-critical system",

author = "Hao Xu and Liangyu Zhao and Zhongjiao Shi",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 2022 Chinese Automation Congress, CAC 2022 ; Conference date: 25-11-2022 Through 27-11-2022",

year = "2022",

doi = "10.1109/CAC57257.2022.10054828",

language = "English",

series = "Proceedings - 2022 Chinese Automation Congress, CAC 2022",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1745--1749",

booktitle = "Proceedings - 2022 Chinese Automation Congress, CAC 2022",

address = "United States",

}

Xu, H, Zhao, L & Shi, Z 2022, Robust Adaptive Control for Safety-Critical Systems via Control Barrier Functions. in Proceedings - 2022 Chinese Automation Congress, CAC 2022. Proceedings - 2022 Chinese Automation Congress, CAC 2022, vol. 2022-January, Institute of Electrical and Electronics Engineers Inc., pp. 1745-1749, 2022 Chinese Automation Congress, CAC 2022, Xiamen, China, 25/11/22. https://doi.org/10.1109/CAC57257.2022.10054828

Robust Adaptive Control for Safety-Critical Systems via Control Barrier Functions. / Xu, Hao; Zhao, Liangyu ; Shi, Zhongjiao.
Proceedings - 2022 Chinese Automation Congress, CAC 2022. Institute of Electrical and Electronics Engineers Inc., 2022. p. 1745-1749 (Proceedings - 2022 Chinese Automation Congress, CAC 2022; Vol. 2022-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Robust Adaptive Control for Safety-Critical Systems via Control Barrier Functions

AU - Xu, Hao

AU - Zhao, Liangyu

AU - Shi, Zhongjiao

PY - 2022

Y1 - 2022

N2 - A robust adaptive control framework for the safety-critical system is developed in this paper, which can guarantee the asymptotic stability of the system and the safety of the parameter estimation. First, the robust adaptive law is constructed using the control barrier functions to cinch the forward invariance of the safety set of the parameter estimation. Then, the auxiliary control input is introduced into the control architecture to ensure the asymptotic stability of the system. Last, numerical simulations based on quadratic programs are performed to depict the effectiveness and superiority of the method.

AB - A robust adaptive control framework for the safety-critical system is developed in this paper, which can guarantee the asymptotic stability of the system and the safety of the parameter estimation. First, the robust adaptive law is constructed using the control barrier functions to cinch the forward invariance of the safety set of the parameter estimation. Then, the auxiliary control input is introduced into the control architecture to ensure the asymptotic stability of the system. Last, numerical simulations based on quadratic programs are performed to depict the effectiveness and superiority of the method.

KW - adaptive control

KW - control barrier functions

KW - quadratic program

KW - safety-critical system

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U2 - 10.1109/CAC57257.2022.10054828

DO - 10.1109/CAC57257.2022.10054828

M3 - Conference contribution

AN - SCOPUS:85151131760

T3 - Proceedings - 2022 Chinese Automation Congress, CAC 2022

SP - 1745

EP - 1749

BT - Proceedings - 2022 Chinese Automation Congress, CAC 2022

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2022 Chinese Automation Congress, CAC 2022

Y2 - 25 November 2022 through 27 November 2022

ER -

Robust Adaptive Control for Safety-Critical Systems via Control Barrier Functions

Abstract

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Keywords

UN SDGs

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