The paper defines conformally robust CLF/CBF conditions and proves that controllers satisfying them keep the true system exponentially stable or safe for a finite horizon with probability at least 1-delta under an exchangeability assumption.
Constructive safety using control barrier functions,
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Statistical Guarantees in Data-Driven Nonlinear Control: Conformal Robustness for Stability and Safety
The paper defines conformally robust CLF/CBF conditions and proves that controllers satisfying them keep the true system exponentially stable or safe for a finite horizon with probability at least 1-delta under an exchangeability assumption.