Contraction ${\mathcal{L}}_1$-Adaptive Control using Gaussian Processes

Aditya Gahlawat, Arun Lakshmanan, Lin Song +4

We present ${\mathcal{CL}}_1$-$\mathcal{G}\mathcal{P}$, a control framework that enables safe simultaneous learning and control for systems subject to uncertainties. The two main constituents…