Robust Adaptive Control Barrier Functions: An Adaptive and Data-Driven Approach to Safety

A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainty. Forward invariance a safe set achieved through online parameter adaptation and data-driven model estimation. The adaptive safety paradigm merged recent controller nominally contracting in closed-loop. This unification more general than other controllers as contraction does not require the system be invertible or particular form. method tested on pitch dynamics an aircraft uncertain aerodynamics.