Barrier Lyapunov Functions and Model Reference Adaptive Control on Native Spaces

This video presents key elements of the paper "Barrier Lyapunov Functions and Model Reference Adaptive Cont,rol on Native Spaces." For the first time, in this paper, the authors present a model reference adaptive control system (MRAC) able to - Counter matched uncertainties captured by a reproducing kernel Hilbert space (RKHS, or native space); - Counter parametric uncertainties; - Counter unmatched uncertainties; - Enforce time-varying hard constraints on the tracking error at all times; - Enforce user-defined, time-varying, soft constraints such as saturation of the actuators. To the authors' knowledge, there is no control system that meets all of these specifications. Numerical simulations show the effectiveness of the proposed results.