Robust Adaptive Control for Safety-Critical Systems via Control Barrier Functions

A robust adaptive control framework for the safety-critical system is developed in this paper, which can guarantee the asymptotic stability of the system and the safety of the parameter estimation. First, the robust adaptive law is constructed using the control barrier functions to cinch the forward invariance of the safety set of the parameter estimation. Then, the auxiliary control input is introduced into the control architecture to ensure the asymptotic stability of the system. Last, numerical simulations based on quadratic programs are performed to depict the effectiveness and superiority of the method.