Aaron D. Ames

Robust Adaptive Backup Control Barrier Functions

Ersin Daş, David E. J. van Wijk, Tamas G. Molnar, Aaron D. Ames, Joel W. Burdick

We propose a notion of robust adaptive backup control barrier functions for nonlinear control affine systems with parametric uncertainty in both the drift dynamics and actuation matrix. Backup control barrier functions guarantee safety by predicting the system's trajectory under…Read more