{"id":"https://openalex.org/W7138000765","doi":"https://doi.org/10.48550/arxiv.2603.14403","title":"Robust Safety Filters for Lipschitz-Bounded Adaptive Closed-Loop Systems with Structured Uncertainties","display_name":"Robust Safety Filters for Lipschitz-Bounded Adaptive Closed-Loop Systems with Structured Uncertainties","publication_year":2026,"publication_date":"2026-03-15","ids":{"openalex":"https://openalex.org/W7138000765","doi":"https://doi.org/10.48550/arxiv.2603.14403"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.14403","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.14403","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.14403","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5129657902","display_name":"Johannes Autenrieb","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Autenrieb, Johannes","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003231695","display_name":"Peter A. Fisher","orcid":"https://orcid.org/0000-0002-6845-109X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fisher, Peter A.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5129654916","display_name":"Anuradha Annaswamy","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Annaswamy, Anuradha","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5129657902"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.41819998621940613,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.41819998621940613,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.16869999468326569,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.14239999651908875,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7261000275611877},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.6187999844551086},{"id":"https://openalex.org/keywords/lipschitz-continuity","display_name":"Lipschitz continuity","score":0.5722000002861023},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.5490000247955322},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5112000107765198},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4997999966144562},{"id":"https://openalex.org/keywords/transient","display_name":"Transient (computer programming)","score":0.44670000672340393},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.44119998812675476},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4327999949455261}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7261000275611877},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.6187999844551086},{"id":"https://openalex.org/C22324862","wikidata":"https://www.wikidata.org/wiki/Q652707","display_name":"Lipschitz continuity","level":2,"score":0.5722000002861023},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.5490000247955322},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5112000107765198},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4997999966144562},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4616999924182892},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.44670000672340393},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.44119998812675476},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4327999949455261},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4059000015258789},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.3901999890804291},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.3894999921321869},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.3711000084877014},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.3637999892234802},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36160001158714294},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.35010001063346863},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.34850001335144043},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.3312000036239624},{"id":"https://openalex.org/C137209882","wikidata":"https://www.wikidata.org/wiki/Q1403517","display_name":"Measurement uncertainty","level":2,"score":0.3156999945640564},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.3149999976158142},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3084999918937683},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.302700012922287},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.30160000920295715},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.29809999465942383},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2962999939918518},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28760001063346863},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.28360000252723694},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2827000021934509},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.2703000009059906},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.25279998779296875}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.14403","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.14403","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.14403","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.14403","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Adaptive":[0],"control":[1,103],"provides":[2],"closed-loop":[3,118],"stability":[4],"and":[5,127,149],"reference":[6,95],"tracking":[7],"for":[8,77,86],"uncertain":[9],"dynamical":[10],"systems":[11,78],"through":[12],"online":[13],"parameter":[14],"adaptation.":[15,38],"These":[16],"properties":[17],"alone,":[18],"however,":[19],"do":[20],"not":[21],"ensure":[22],"safety":[23,43,63,75],"in":[24],"the":[25,94,105,109,117],"sense":[26],"of":[27,30,37,145],"forward":[28,146],"invariance":[29],"state":[31],"constraints,":[32],"particularly":[33],"during":[34],"transient":[35,87],"phases":[36],"Control":[39],"barrier":[40],"function":[41],"(CBF)-based":[42],"filters":[44],"have":[45],"been":[46],"proposed":[47],"to":[48,107],"address":[49],"this":[50],"limitation,":[51],"but":[52],"existing":[53],"approaches":[54],"often":[55],"rely":[56],"on":[57,116],"conservative":[58],"constraint":[59],"tightening":[60],"or":[61],"static":[62],"margins":[64],"within":[65],"quadratic":[66],"program":[67,134],"formulations.":[68],"This":[69],"paper":[70],"proposes":[71],"a":[72,98,121,130],"reference-based":[73],"adaptive":[74,102],"framework":[76],"with":[79],"structured":[80],"parametric":[81],"uncertainty":[82],"that":[83],"explicitly":[84],"accounts":[85],"plant-reference":[88],"mismatch.":[89],"Safety":[90],"is":[91,125],"enforced":[92],"at":[93],"level":[96],"using":[97],"barrier-function-based":[99],"filter,":[100],"while":[101,141],"drives":[104],"plant":[106],"track":[108],"safety-certified":[110],"reference.":[111],"By":[112],"exploiting":[113],"Lipschitz":[114],"bounds":[115],"error":[119],"dynamics,":[120],"robust":[122],"CBF":[123],"condition":[124],"derived":[126],"reformulated":[128],"as":[129],"convex":[131],"second-order":[132],"cone":[133],"(SOCP).":[135],"The":[136],"resulting":[137],"approach":[138],"reduces":[139],"conservatism":[140],"preserving":[142],"formal":[143],"guarantees":[144],"invariance,":[147],"stability,":[148],"tracking.":[150]},"counts_by_year":[],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2026-03-18T00:00:00"}
