L1 Adaptive Control of Constrained Systems Using Barrier States

For linear systems subject to nonlinear time- and state-dependent uncertainties, this paper presents BaS-L1, an integrated barrier state and L1 adaptive control architecture that achieves desired control performance while facilitating the satisfaction of state constraints. Barrier states are first adopted to augment the original dynamics and encode safety constraints creating a baseline controller, without considering uncertainties. The L1 adaptive controller is then used to compensate for the uncertainties to maintain the control performance and constraint satisfaction in the presence of uncertainties. The efficacy of the proposed control architecture is tested in simulations using the longitudinal dynamics of an F-16 aircraft.