Safe Learning and Control with L1 Adaptation*

Abstract: Learning-based control paradigms have seen many success stories with various robots and co-robots in recent years. However, as these robots prepare to enter the real world, operating safely in the presence of imperfect model knowledge and external disturbances is going to be vital to ensure mission success. In the first part of the talk, we present an overview of L1 adaptive control, how it enables safety in autonomous robots, and discuss some of its success stories in the aerospace industry. In the second part of the talk, we present some of our recent results that explore various architectures with L1 adaptive control while guaranteeing performance and robustness throughout the learning process. An overview of different projects at our lab that build upon this framework will be demonstrated to show different applications.

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