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Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation

Maghenem, Mohamed and Taylor, Andrew J. and Ames, Aaron D. and Sanfelice, Ricardo G. (2021) Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation. In: 2021 American Control Conference (ACC). IEEE , pp. 2418-2423. ISBN 978-1-6654-4197-1.

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This paper presents a hybrid adaptive law for safety-critical adaptive control of constrained continuous-time systems under the effect of unknown disturbances. The proposed adaptive law features a hybrid update law that, using a hysteresis-type mechanism, appropriately resets the estimate of the disturbance. In contrast to continuous-time adaptation laws for safety-critical control, our hybrid adaptive law relaxes the assumption typically imposed on the unknown disturbances as well as the behavior usually imposed around the boundary of the safe region. We illustrate the benefits of the proposed hybrid law in an adaptive cruise control problem.

Item Type:Book Section
Related URLs:
URLURL TypeDescription
Maghenem, Mohamed0000-0002-8746-9375
Taylor, Andrew J.0000-0002-5990-590X
Ames, Aaron D.0000-0003-0848-3177
Sanfelice, Ricardo G.0000-0002-6671-5362
Additional Information:© 2021 AACC. Research partially supported by NSF Grants no. ECS-1710621, CNS-1544396, and CNS-2039054, by AFOSR Grants no. FA9550-19-1-0053, FA9550-19-1-0169, and FA9550-20-1-0238, and by CITRIS and the Banatao Institute at the University of California.
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)FA9550-19-1-0053
Air Force Office of Scientific Research (AFOSR)FA9550-19-1-0169
Air Force Office of Scientific Research (AFOSR)FA9550-20-1-0238
Center for Information Technology Research in the Interest of Society (CITRIS)UNSPECIFIED
Banatao InstituteUNSPECIFIED
Record Number:CaltechAUTHORS:20210825-154135958
Persistent URL:
Official Citation:M. Maghenem, A. J. Taylor, A. D. Ames and R. G. Sanfelice, "Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation," 2021 American Control Conference (ACC), 2021, pp. 2418-2423, doi: 10.23919/ACC50511.2021.9482871
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:110419
Deposited By: Tony Diaz
Deposited On:25 Aug 2021 16:54
Last Modified:25 Aug 2021 16:54

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