システム蘇生変換を用いた入力アフィン非線形システムに対するレギュレーション写像設計

抄録

Establishment of technology to avoid accidents caused by human errors of vehicles is an important issue in society. In recent years, a control method based on a revived transformation has been proposed to cope with the state constraint problem. Moreover, regarding the safety of the system, there is a method to design the regulation mapping based on the viability theory. This paper presents regulation mapping design using the revived transformation for an input affine nonlinear system based on the viability theory. The proposed method guarantees that the state of the system remains in the safe area by any human input. Firstly, we show the state space becomes the safe area using the revived transformation for an input affine nonlinear system. Secondly, we show regulation mapping design under a human operation for an input affine nonlinear system. Finally, the effectiveness of the proposed method is confirmed by an example.