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arXiv · 2510.20081

Safe Output-Feedback Adaptive Optimal Control of Affine Nonlinear Systems

Tochukwu E. Ogri·Muzaffar Qureshi·Zachary I. Bell·Wanjiku A. Makumi·Rushikesh Kamalapurkar
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Abstract

In this paper, we develop a safe control synthesis method that integrates state estimation and parameter estimation within an adaptive optimal control (AOC) and control barrier function (CBF)-based control architecture. The developed approach decouples safety objectives from the learning objectives using a CBF-based guarding controller where the CBFs are robustified to account for the lack of full-state measurements. The coupling of this guarding controller with the AOC-based stabilizing control guarantees safety and regulation despite the lack of full state measurement. The paper leverages recent advancements in deep neural network-based adaptive observers to ensure safety in the presence of state estimation errors. Safety and convergence guarantees are provided using a Lyapunov-based analysis, and the effectiveness of the developed controller is demonstrated through simulation under mild excitation conditions.

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Tochukwu E. Ogri, Muzaffar Qureshi, Zachary I. Bell, Wanjiku A. Makumi, Rushikesh Kamalapurkar. 2025-10-22. Safe Output-Feedback Adaptive Optimal Control of Affine Nonlinear Systems. https://arxiv.org/abs/2510.20081

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