TY - GEN
T1 - Robust Adaptive Control for Safety-Critical Systems via Control Barrier Functions
AU - Xu, Hao
AU - Zhao, Liangyu
AU - Shi, Zhongjiao
N1 - Publisher Copyright:
© 2022 IEEE.
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
UR - http://www.scopus.com/inward/record.url?scp=85151131760&partnerID=8YFLogxK
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 -
