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
收藏
页码：376 / 384
页数：9
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