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This paper presents a method to design a min-norm Control Lyapunov Function (CLF)-based stabilizing controller for a control-affine system with uncertain dynamics using Gaussian Process (GP) regression.
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J. Reher, C. Kann, and A. D. Ames, “An inverse dynamics approach to control lyapunov functions,” in American Control Conference , 2020
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J. Choi, F. Castañeda, C. Tomlin, and K. Sreenath, “Reinforcement learning for safety-critical control under model uncertainty, using control lyapunov functions and control barrier functions,” in Robotics: Science and Systems , Corvalis, OR, July 2020
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A. D. Ames, X. Xu, J. W. Grizzle, and P. Tabuada, “Control barrier function based quadratic programs for safety critical systems,” IEEE Transactions on Automatic Control , vol. 62, pp. 3861–3876, 2017
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S. R. Chowdhury and A. Gopalan, “On kernelized multi-armed bandits,” in Proceedings of the 34th International Conference on Machine Learning - Volume 70 , 2017, p. 844–853
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F. Berkenkamp, M. Turchetta, A. Schoellig, and A. Krause, “Safe model-based reinforcement learning with stability guarantees,” in Advances in Neural Information Processing Systems . Curran Associates, Inc., 2017, vol. 30, pp. 908–918
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J. Umlauft, L. Pöhler, and S. Hirche, “An uncertainty-based control lyapunov approach for control-affine systems modeled by gaussian process,” IEEE Control Systems Letters , vol. 2, pp. 483–488, 2018
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T. Westenbroek, F. Castañeda, A. Agrawal, S. S. Sastry, and K. Sreenath, “Learning min-norm stabilizing control laws for systems with unknown dynamics,” in IEEE Conference on Decision and Control , 2020, pp. 737–744
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D. D. Fan, J. Nguyen, R. Thakker, N. Alatur, A. a. Agha-mohammadi, and E. A. Theodorou, “Bayesian learning-based adaptive control for safety critical systems,” in IEEE International Conference on Robotics and Automation , 2020, pp. 4093–4099
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L. Zheng, R. Yang, J. Pan, H. Cheng, and H. Hu, “Learning-based safety-stability-driven control for safety-critical systems under model uncertainties,” in International Conference on Wireless Communications and Signal Processing , 2020, pp. 1112–1118
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M. J. Khojasteh, V. Dhiman, M. Franceschetti, and N. Atanasov, “Probabilistic safety constraints for learned high relative degree system dynamics,” in Learning for Dynamics and Control , 2020, pp. 781–792
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