CONTROL BARRIER FUNCTION DESIGN USING REVIVED TRANSFORMATION

被引：4

作者：

Takai, Maki ^{[1
]}

Igarashi, Motoi ^{[1
]}

Nakamura, Hisakazu ^{[1
]}

机构：

[1] Tokyo Univ Sci, Dept Elect Engn, Noda, Chiba, Japan

来源：

JOURNAL OF MARINE SCIENCE AND TECHNOLOGY-TAIWAN | 2020年 / 28卷 / 05期

关键词：

nonlinear control; state constraint; revived transformation; STABILIZATION; SYSTEMS;

D O I：

10.6119/JMST.202010_28(5).0007

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

The state constraint problem is an essential topic in control theory, wherein control methods using a control barrier function (CBF) and a revived transformation have been recently proposed. However, a way of designing the CBF is yet to be developed in a constrained space. In this study, we propose a CBF design method by using a revived transformation. Our method can design a CBF in a constrained space by utilizing a diffeomorphism from an unconstrained space. We demonstrate the effectiveness of the proposed method by human assist control design and computer simulation.

引用

页码：376 / 384

页数：9

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