Safe Tracking Control of Lagrangian Systems with Unknown Parameters
A discussion is presented on safe tracking control problem of Lagrangian systems with unknown parame-ters.Firstly,a tracking controller is designed for trajectory tracking by the backstepping method.Then an adaptive control barrier function is constructed to design the safety controller,such that the system state is far from the boundary of the safety set.Based on the tracking controller and adaptive control barrier function constraints,the quadratic program is generated,and further a safety tracking controller is designed to make the system track the ref-erence signal as closely as possible under the premise of safety.The simulation results are given to illustrate the ef-fectiveness of the proposed method.
Lagrangian systemcontrol barrier functionquadratic programsafetytracking control
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