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Electrical Engineering and Systems Science > Systems and Control

arXiv:2408.09534 (eess)
[Submitted on 18 Aug 2024]

Title:Safe Adaptive Control for Uncertain Systems with Complex Input Constraints

Authors:Yaosheng Deng, Yang Bai, Yujie Wang, Masaki Ogura, Mir Feroskhan
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Abstract:In this paper, we propose a novel adaptive Control Barrier Function (CBF) based controller for nonlinear systems with complex, time-varying input constraints. Conventional CBF approaches often struggle with feasibility issues and stringent assumptions when addressing input constraints. Unlike these methods, our approach converts the input-constraint problem into an output-constraint CBF design. This transformation simplifies the Quadratic Programming (QP) formulation and enhances compatibility with the CBF framework. We design an adaptive CBF-based controller to manage the mismatched uncertainties introduced by this transformation. Our method systematically addresses the challenges of complex, time-varying, and state-dependent input constraints. The efficacy of the proposed approach is validated using numerical examples.
Comments: 8 pages, 2 figures
Subjects: Systems and Control (eess.SY)
Cite as: arXiv:2408.09534 [eess.SY]
  (or arXiv:2408.09534v1 [eess.SY] for this version)
  https://doi.org/10.48550/arXiv.2408.09534

Submission history

From: Yaosheng Deng [view email]
[v1] Sun, 18 Aug 2024 16:40:33 UTC (3,888 KB)
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