Recursive Feasibility Guided Optimal Parameter Adaptation of Differential Convex Optimization Policies for Safety-Critical Systems
Hardik Parwana,Dimitra Panagou,Hardik Parwana,Dimitra Panagou
Quadratic Program(QP) based state-feedback controllers, whose inequality constraints bound the rate of change of control barrier (CBFs) and lyapunov function with a class-$\mathcal{K}$ function of their values, are sensitive to the parameters of these class-$\mathcal{K}$ functions. The construction of valid CBFs, however, is not straightforward, and for arbitrarily chosen parameters of the QP, the...
