Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions

16 Apr 2020Jason ChoiFernando CastañedaClaire J. TomlinKoushil Sreenath

In this paper, the issue of model uncertainty in safety-critical control is addressed with a data-driven approach. For this purpose, we utilize the structure of an input-ouput linearization controller based on a nominal model along with a Control Barrier Function and Control Lyapunov Function based Quadratic Program (CBF-CLF-QP)... (read more)

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