{"id":"https://openalex.org/W7154754826","doi":"https://doi.org/10.48550/arxiv.2604.14308","title":"High Order Tuners for Adaptive Safety of Robotic Systems","display_name":"High Order Tuners for Adaptive Safety of Robotic Systems","publication_year":2026,"publication_date":"2026-04-15","ids":{"openalex":"https://openalex.org/W7154754826","doi":"https://doi.org/10.48550/arxiv.2604.14308"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.14308","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.14308","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.14308","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5000809108","display_name":"Mohammad Mirtaba","orcid":"https://orcid.org/0000-0003-1476-8435"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mirtaba, Mohammad","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5133837951","display_name":"Max H. Cohen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cohen, Max H.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.7886999845504761,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.7886999845504761,"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":0.04439999908208847,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.03530000150203705,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.6978999972343445},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.6895999908447266},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5705000162124634},{"id":"https://openalex.org/keywords/adaptive-system","display_name":"Adaptive system","score":0.534600019454956},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5336999893188477},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5144000053405762},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.47690001130104065},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4124000072479248}],"concepts":[{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.6978999972343445},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.6895999908447266},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6247000098228455},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5705000162124634},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5444999933242798},{"id":"https://openalex.org/C52970973","wikidata":"https://www.wikidata.org/wiki/Q2497134","display_name":"Adaptive system","level":2,"score":0.534600019454956},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5336999893188477},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5144000053405762},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.47690001130104065},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.414900004863739},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4124000072479248},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4101000130176544},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.3458000123500824},{"id":"https://openalex.org/C2982777018","wikidata":"https://www.wikidata.org/wiki/Q99268086","display_name":"Adaptive design","level":3,"score":0.29750001430511475},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.27730000019073486},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.2605000138282776},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.258899986743927},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2551000118255615},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.25459998846054077}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.14308","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.14308","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.14308","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.14308","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0,134],"combination":[1],"of":[2,29,80,92,111,136],"control":[3,9,28],"barrier":[4],"functions":[5],"(CBFs)":[6],"and":[7,49],"adaptive":[8,16,67,132],"--":[10,18],"a":[11,23,77],"framework":[12,44],"referred":[13],"to":[14,21,56,122],"as":[15],"safety":[17],"has":[19],"proven":[20],"be":[22],"powerful":[24],"paradigm":[25],"for":[26,39,115,131],"safety-critical":[27],"nonlinear":[30],"systems":[31,124],"with":[32],"parametric":[33],"uncertainties.":[34],"Yet":[35],"the":[36,108,112],"theoretical":[37],"conditions":[38,103,110],"forward":[40],"invariance":[41],"within":[42],"this":[43],"are":[45,139],"often":[46],"quite":[47],"conservative,":[48],"may":[50],"require":[51],"using":[52],"large":[53],"adaptation":[54,82,87,101],"gains":[55,88],"achieve":[57],"acceptable":[58],"performance,":[59],"an":[60],"approach":[61],"that":[62,84,96],"is":[63],"traditionally":[64],"discouraged":[65],"in":[66],"control.":[68,133],"This":[69],"paper":[70],"mitigates":[71],"these":[72,97,120],"issues":[73],"via":[74,141],"high-order":[75,98],"tuners,":[76],"recent":[78],"class":[79],"higher-order":[81],"laws":[83],"leverages":[85],"different":[86,90],"at":[89],"orders":[91],"differentiation.":[93],"We":[94,118],"illustrate":[95],"tuners":[99],"decouple":[100],"gain":[102],"from":[104],"those":[105],"placed":[106],"on":[107],"initial":[109],"system":[113],"required":[114],"set":[116],"invariance.":[117],"extend":[119],"results":[121,138],"robotic":[123],"whose":[125],"linear-in-the-parameters":[126],"structure":[127],"proves":[128],"particularly":[129],"useful":[130],"efficacy":[135],"our":[137],"illustrated":[140],"simulations.":[142]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-04-18T00:00:00"}
