Adaptive Safety for Uncertain Nonlinear Systems with Control Barrier Functions and Contraction Metrics.
Brett Thomas LopezJean-Jacques E. SlotineJonathan P. HowPublished in: CoRR (2020)
Keyphrases
- nonlinear systems
- adaptive control
- adaptive neural
- tracking control
- adaptive fuzzy
- controller design
- control method
- inverted pendulum
- stability analysis
- tracking error
- feedback control
- lyapunov function
- control law
- fuzzy controller
- control problems
- nonlinear functions
- fault tolerant control
- fuzzy control
- adaptive neural control
- learning rate
- sliding mode control
- fuzzy systems
- control system
- robust stability
- chaotic systems
- takagi sugeno
- dynamic environments
- fuzzy model
- control strategy
- reinforcement learning
- dead zone
- decision making
- neural network
- fuzzy logic controller
- clustering algorithm
- control algorithm