This work applies universal adaptive control to control barrier functions to achieve forward invariance of a safe set despite unmatched parametric uncertainties in a dynamical model. The approach combines two ideas. The first is to construct a family of control barrier functions that ensures the system is safe for all possible models. The second is to use online parameter adaption to methodically select a control barrier function and corresponding safety controller from the allowable set. While such a combination does not necessarily yield forward invariance without additional requirements on the barrier function, we show that such invariance can be established by simply adjusting the adaptation gain online. As a result, this work represents the first adaptive safety approach that successfully employs the certainty equivalence principle without sacrificing safety guarantees.

翻译：这项工作运用通用适应控制控制来控制屏障功能, 以在动态模型中, 尽管不匹配的参数不确定性, 从而实现安全套件的前向变化。 这种方法结合了两种想法。 第一是构建一个控制屏障功能的组合, 以确保系统对所有可能的模型都安全。 第二是使用在线参数调整, 以便有条不紊地从允许套件中选择控制屏障功能和相应的安全控制器。 虽然这种组合不一定在不增加屏障功能要求的情况下产生前向变化, 但我们表明, 只需在网上调整适应收益即可建立这种差异。 因此, 这项工作代表了在不牺牲安全保障的情况下成功运用确定等值原则的第一个适应安全方法。