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Adaptive Control Lyapunov Functions (aCLFs) were introduced 20 years ago, and provided a Lyapunov-based methodology for stabilizing systems with parameter uncertainty.
Über die lage der integralkurven gewöhnlicher differentialgleichungen
M. Nagumo · 1942
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Stabilization with relaxed controls
Z. Artstein · 1983
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Smooth stabilization implies coprime factorization
E. D. Sontag · 1989
Earlier work this paper cites.
A ‘universal’ construction of artstein’s theorem on nonlinear stabilization
E. D. Sontag · 1989
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A universal formula for stabilization with bounded controls
Y. Lin and E. D. Sontag · 1991
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Nonlinear and adaptive control design
M. Krstić, I. Kanellakopoulos, and P. V. Kokotović · 1995
Earlier work this paper cites.
Control lyapunov functions for adaptive nonlinear stabilization
M. Krstić and P. V. Kokotović · 1995
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Modular approach to adaptive nonlinear stabilization
M. Krstić and P. V. Kokotović · 1996
Earlier work this paper cites.
Optimal design of adaptive tracking controllers for non-linear systems
Z. Li and M. Krstić · 1997
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Nonlinear Systems - 3rd Edition
H.K. Khalil · 2002
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Convex optimization
S. Boyd and L. Vandenberghe · 2004
Cited alongside, same era.
Optimization-based methods for nonlinear and hybrid systems verification
S. Prajna · 2005
Cited alongside, same era.
Constructive safety using control barrier functions
P. Wieland and F. Allgöwer · 2007
Cited alongside, same era.
Barrier lyapunov functions for the control of output-constrained nonlinear systems
K. P. Tee, S. S. Ge, and E. H. Tay · 2009
Cited alongside, same era.
Sufficient conditions for the lipschitz continuity of qp-based multi-objective control of humanoid robots
B. Morris, M. J. Powell, and A. D. Ames · 2013
Cited alongside, same era.
Differential equations and dynamical systems
L. Perko · 2013
Cited alongside, same era.
Exponential control barrier functions for enforcing high relative-degree safety-critical constraints
Q. Nguyen and K. Sreenath · 2016
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Control barrier function based quadratic programs for safety critical systems
A. D. Ames, X. Xu, J. W. Grizzle, and P. Tabuada · 2017
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Safe certificate-based maneuvers for teams of quadrotors using differential flatness
L. Wang, A. D. Ames, and M. Egerstedt · 2017
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A general safety framework for learning-based control in uncertain robotic systems
J. F. Fisac, A. K. Akametalu, M. N. Zeilinger, S. Kaynama, J. Gillula, and C. J. Tomlin · 2018
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Towards a framework for realizable safety critical control through active set invariance
T. Gurriet, A. Singletary, J. Reher, L. Ciarletta, E. Feron, and A. Ames · 2018
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Control barrier function based quadratic programs with application to adaptive cruise control
A. Ames, J. Grizzle, and P. Tabuada · 2014
Cited alongside, same era.
Adaptive control design for underactuated systems using sums-of-squares optimization
J. Moore and R. Tedrake · 2014
Cited alongside, same era.
Robustness of control barrier functions for safety critical control
X. Xu, P. Tabuada, J. W. Grizzle, and A. D. Ames · 2015
Cited alongside, same era.
Input-to-state safety with control barrier functions
S. Kolathaya and A. D. Ames · 2018
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Safe learning of quadrotor dynamics using barrier certificates
L. Wang, E. A. Theodorou, and M. Egerstedt · 2018
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R. Cheng, G. Orosz, R. M. Murray, and J. W. Burdick · 2019
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Barrier-certified adaptive reinforcement learning with applications to brushbot navigation
M. Ohnishi, L. Wang, G. Notomista, and M. Egerstedt · 2019
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