Adaptive Safety Control of a Constrained Uncertain Robotic System

Abstract

The safety control problem of a constrained uncertain robotic system is investigated in this paper. First, the high-order control barrier functions (HoCBFs) are introduced to deal with the output constraints for he system. And to solve the uncertain problem and revisit the HoCBF-based framework, an adaptive approach is proposed to updating the unknown parameters online. In this way, the system safety can be achieved adaptively by keeping the system output within the predefined constrained region even in the presence of parametric uncertainty. Finally, simulation tests are carried out to verify the validity of the proposed controller.