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Adaptive Safety with Control Barrier Functions

Taylor, Andrew J. and Ames, Aaron D. (2020) Adaptive Safety with Control Barrier Functions. In: 2020 American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 1399-1405. ISBN 9781538682661. https://resolver.caltech.edu/CaltechAUTHORS:20200730-143943289

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Abstract

Adaptive Control Lyapunov Functions (aCLFs) were introduced 20 years ago, and provided a Lyapunov-based methodology for stabilizing systems with parameter uncertainty. The goal of this paper is to revisit this classic formulation in the context of safety-critical control. This will motivate a variant of aCLFs in the context of safety: adaptive Control Barrier Functions (aCBFs). Our proposed approach adaptively achieves safety by keeping the system’s state within a safe set even in the presence of parametric model uncertainty. We unify aCLFs and aCBFs into a single control methodology for systems with uncertain parameters in the context of a Quadratic Program (QP) based framework. We validate the ability of this unified framework to achieve stability and safety in an Adaptive Cruise Control (ACC) simulation.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.23919/acc45564.2020.9147463DOIArticle
https://arxiv.org/abs/1910.00555arXivDiscussion Paper
ORCID:
AuthorORCID
Taylor, Andrew J.0000-0002-5990-590X
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2020 AACC.
Record Number:CaltechAUTHORS:20200730-143943289
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20200730-143943289
Official Citation:A. J. Taylor and A. D. Ames, "Adaptive Safety with Control Barrier Functions," 2020 American Control Conference (ACC), Denver, CO, USA, 2020, pp. 1399-1405, doi: 10.23919/ACC45564.2020.9147463
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:104667
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:31 Jul 2020 14:25
Last Modified:03 Aug 2020 21:11

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