Adaptive Robust Quadratic Programs using Control Lyapunov and Barrier Functions

Pan Zhao, Yanbing Mao, Chuyuan Tao, Naira Hovakimyan, Xiaofeng Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents adaptive robust quadratic program (QP) based control using control Lyapunov and barrier functions for nonlinear systems subject to time-varying and state-dependent uncertainties. An adaptive estimation law is proposed to estimate the pointwise value of the uncertainties with pre-computable estimation error bounds. The estimated uncertainty and the error bounds are then used to formulate a robust QP, which ensures that the actual uncertain system will not violate the safety constraints defined by the control barrier function. Additionally, the accuracy of the uncertainty estimation can be systematically improved by reducing the estimation sampling time, leading subsequently to reduced conservatism of the formulated robust QP. The proposed approach is validated in simulations on an adaptive cruise control problem and through comparisons with existing approaches.

Original languageEnglish (US)
Title of host publication2020 59th IEEE Conference on Decision and Control, CDC 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3353-3358
Number of pages6
ISBN (Electronic)9781728174471
DOIs
StatePublished - Dec 14 2020
Event59th IEEE Conference on Decision and Control, CDC 2020 - Virtual, Jeju Island, Korea, Republic of
Duration: Dec 14 2020Dec 18 2020

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2020-December
ISSN (Print)0743-1546

Conference

Conference59th IEEE Conference on Decision and Control, CDC 2020
CountryKorea, Republic of
CityVirtual, Jeju Island
Period12/14/2012/18/20

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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