Robust Adaptive Control Barrier Functions: An Adaptive and Data-Driven Approach to Safety

A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainty. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new adaptive data-driven safety paradigm is merged with a recent adaptive controller for systems nominally contracting in closed-loop. This unification is more general than other safety controllers as contraction does not require the system be invertible or in a particular form. The method is tested on the pitch dynamics of an aircraft with uncertain nonlinear aerodynamics.