我所柳向斌老师完成的论文《I&I adaptive fault-tolerant safe control of safety-critical systems》于2023-12在《Journal of the Franklin Institute》正式发表。论文摘要如下：
Abstract: This paper proposed an Immersion and Invariance (I&I) adaptive fault-tolerant safe control scheme for a class of safety-critical (SC) systems with parametric faults. The scheme combines I&I Adaptive Control Lyapunov Function (I&I aCLF) with I&I Adaptive Control Barrier Function (I&I aCBF) to shape the transient performance of constrained states. Forward invariance of a safe set is achieved through online parameter adaptation, and the parameter convergence is guaranteed through I&I adaptation law. The conservatism is reduced by both shaping transient performance and ensuring parameters convergence. A SC controller guaranteeing stability and safety is obtained by solving an optimization problem with safety constrain, and an analytical solution is provided to facilitate the calculation and execution of the SC controller. A numerical simulation is carried out to illustrate the effectiveness of the proposed method.
引用信息：Min Zhang, Xiangbin Liu, Hongye Su. I&I adaptive fault-tolerant safe control of safety-critical systems. Journal of the Franklin Institute, 2023-12. DOI: 10.1016/j.jfranklin.2023.10.034