An adaptive control barrier function with an error-bound margin that is nonincreasing and, under persistency of excitation, vanishing is derived and demonstrated on two numerical examples.
Safety-critical model predictive control with discrete-time control barrier function,
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Adaptive Control Barrier Functions with Vanishing Conservativeness Under Persistency of Excitation
An adaptive control barrier function with an error-bound margin that is nonincreasing and, under persistency of excitation, vanishing is derived and demonstrated on two numerical examples.