@inproceedings{6b2cd209d0bc4d08acb825abe9366000,
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",
}
