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October 1, 2025Open Access

Safety Embedded Adaptive Control Using Barrier States

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Authors

MAMaitham F. AL-SunniHAHassan AlmubarakJDJohn M. Dolan

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Overview

This framework employs barrier states and Lyapunov functions to achieve safe adaptive control, highlighting effectiveness in diverse applications.

Key Points

  • The controller designed ensures safe control actions for the system while achieving performance objectives.
  • By utilizing barrier states, the approach effectively manages parametric uncertainty in the nonlinear control design.
  • Simulation results demonstrate its effectiveness across various systems, including adaptive cruise control and quadrotor applications.
  • This framework's foundation in Lyapunov functions facilitates the stabilization of uncertain dynamical models.

Cite This Study

AL-Sunni et al. (2025) studied this question.

synapsesocial.com/papers/68dd91c7fe798ba2fc49846chttps://doi.org/10.48550/arxiv.2504.15423
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Also Consider

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  1. 1Composite Adaptive Control Barrier Functions for Safety‐Critical Systems With Parametric Uncertainty2026
  2. 2Safety-critical control of nonlinear systems using deep neural network-based control barrier functions2026
  3. 3Nearly Optimal Nonlinear Safe Control with BaS-SDRE2025
  4. 4Adaptive Deep Neural Network-Based Control Barrier Functions2024
  5. 5Suboptimal Safety‐Critical Control of Nonlinear Systems With Time‐Varying Constraints2026