Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Fixed-Time Parameter Adaptation for Safe Control Synthesis   We propose a fixed-time stable parameter adaptation law that guarantees that
an additive, parameter-affine disturbance appearing in the dynamics of a class
of nonlinear, control-affine systems is learned within a fixed time. We then
provide an upper bound on the parameter estimation error as an explicit
function of time, and use such knowledge to formulate a control barrier
function condition to guarantee safety of the system trajectories at all times.
We further show that our proposed parameter adaptation law is robust against
bounded perturbations to the system dynamics in that the resulting estimated
parametric disturbance converges to a known neighborhood of the true parametric
disturbance within a fixed time. To illustrate the advantages of our proposed
approach, we conduct a comparative numerical study against various controllers
from the literature. Finally, we validate our approach on a trajectory-tracking
problem subject to safety requirements using a 6 degree-of-freedom quadrotor
model in an unknown wind field.

20
The categories of this paper are: acc-phys
12
The categories of this paper are: nucl-th
21
The categories of this paper are: adap-org
8
The categories of this paper are: hep-ex
29
The categories of this paper are: funct-an
17
The categories of this paper are: q-fin
10
The categories of this paper are: q-bio
36
The categories of this paper are: cmp-lg
7
The categories of this paper are: hep-th
9
The categories of this paper are: nlin
22
The categories of this paper are: chao-dyn
35
The categories of this paper are: mtrl-th
3
The categories of this paper are: physics
18
The categories of this paper are: econ
5
The categories of this paper are: gr-qc
0
The categories of this paper are: hep-ph