2020/03/22 by Lopez, Brett T., Slotine, Jean-Jacques E., How, Jonathan P.
#FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · doi:10.48550/arxiv.2003.10028
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new adaptive data-driven safety paradigm is merged with a recent adaptive control algorithm for systems nominally contracting in closed-loop. This unification is more general than other safety controllers as closed-loop contraction does not require the system be invertible or in a particular form. Additionally, the approach is less expensive than nonlinear model predictive control as it does not require a full desired trajectory, but rather only a desired terminal state. The approach is illustrated on the pitch dynamics of an aircraft with uncertain nonlinear aerodynamics.