Learning for Safety-Critical Control with Control Barrier Functions

20 Dec 2019Andrew TaylorAndrew SingletaryYisong YueAaron Ames

Modern nonlinear control theory seeks to endow systems with properties of stability and safety, and have been deployed successfully in multiple domains. Despite this success, model uncertainty remains a significant challenge in synthesizing safe controllers, leading to degradation in the properties provided by the controllers... (read more)

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