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. https://resolver.caltech.edu/CaltechAUTHORS:20210825-154135958
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Abstract
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.
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| 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. | ||||||||||||||||||
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| DOI: | 10.23919/ACC50511.2021.9482871 | ||||||||||||||||||
| Record Number: | CaltechAUTHORS:20210825-154135958 | ||||||||||||||||||
| Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20210825-154135958 | ||||||||||||||||||
| 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 | ||||||||||||||||||
| Collection: | CaltechAUTHORS | ||||||||||||||||||
| Deposited By: | Tony Diaz | ||||||||||||||||||
| Deposited On: | 25 Aug 2021 16:54 | ||||||||||||||||||
| Last Modified: | 25 Aug 2021 16:54 |
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