Title: Adaptive Override Control under High-Relative-Degree Nonovershooting Constraints Show Chinese title

Title: 高相对阶无超调约束下的自适应覆盖控制

Abstract: This paper considers the problem of adaptively overriding unsafe actions of a nominal controller in the presence of high-relative-degree nonovershooting constraints and parametric uncertainties. To prevent the design from being coupled with high-order derivatives of the parameter estimation error, we adopt a modular design approach in which the controller and the parameter identifier are designed separately. The controller module ensures that any safety violations caused by parametric uncertainties remain bounded, provided that the parameter estimation error and its first-order derivative are either bounded or square-integrable. The identifier module, in turn, guarantees that these requirements on the parameter estimation error are satisfied. Both theoretical analysis and simulation results demonstrate that the closed-loop safety violation is bounded by a tunable function of the initial estimation error. Moreover, as time increases, the parameter estimate converges to the true value, and the amount of safety violation decreases accordingly. Show Chinese abstract

Abstract: 本文考虑了在存在高相对阶非超调约束和参数不确定性的情况下，自适应地覆盖名义控制器不安全动作的问题。 为了防止设计与参数估计误差的高阶导数耦合，我们采用了一种模块化设计方法，其中控制器和参数识别器是分别设计的。 控制器模块确保由参数不确定性引起的任何安全违规都保持有界，前提是参数估计误差及其一阶导数是有界的或平方可积的。 相反，识别器模块保证对参数估计误差的这些要求得到满足。 理论分析和仿真结果表明，闭环安全违规被初始估计误差的可调节函数所限制。 此外，随着时间的推移，参数估计收敛到真实值，安全违规的程度相应减少。