TY - GEN
T1 - Control Barrier Function-Based Discrete-Time Adaptive Control for Uncertain Systems
AU - Xu, Hao
AU - Shi, Zhongjiao
AU - Zhao, Liangyu
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.
PY - 2025
Y1 - 2025
N2 - A novel control barrier function-based discrete-time adaptive control is presented for uncertain safety-critical systems, which can ensure the asymptotic convergence of tracking error while guaranteeing the estimation parameter within a safety set. Firstly, a discrete-time adaptive law is proposed with the control barrier function (CBF) to ensure the safety of estimated parameters based on the forward invariance of sets. Then, a discrete-time adaptive control architecture is synthesized, and its Lyapunov stability analysis is proved by a logarithmic Lyapunov function. Last, numerical example is provided to illustrate the convincingness of the proposed method.
AB - A novel control barrier function-based discrete-time adaptive control is presented for uncertain safety-critical systems, which can ensure the asymptotic convergence of tracking error while guaranteeing the estimation parameter within a safety set. Firstly, a discrete-time adaptive law is proposed with the control barrier function (CBF) to ensure the safety of estimated parameters based on the forward invariance of sets. Then, a discrete-time adaptive control architecture is synthesized, and its Lyapunov stability analysis is proved by a logarithmic Lyapunov function. Last, numerical example is provided to illustrate the convincingness of the proposed method.
KW - adaptive control
KW - control barrier function
KW - discrete-time
KW - logarithmic Lyapunov function
KW - safety-critical systems
UR - http://www.scopus.com/pages/publications/105000906094
U2 - 10.1007/978-981-96-2216-0_27
DO - 10.1007/978-981-96-2216-0_27
M3 - Conference contribution
AN - SCOPUS:105000906094
SN - 9789819622153
T3 - Lecture Notes in Electrical Engineering
SP - 280
EP - 290
BT - Advances in Guidance, Navigation and Control - Proceedings of 2024 International Conference on Guidance, Navigation and Control Volume 5
A2 - Yan, Liang
A2 - Duan, Haibin
A2 - Deng, Yimin
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Guidance, Navigation and Control, ICGNC 2024
Y2 - 9 August 2024 through 11 August 2024
ER -