計測自動制御学会論文集
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
論文
厳密微分器を用いた移動体障害物回避制御
手塚 一成松浦 隼中村 文一
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ジャーナル 認証あり

2021 年 57 巻 6 号 p. 276-284

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Control barrier functions (CBFs) have been successfully implemented in various control strategies; one of those is a human assist control for moving obstacle avoidance by using time-varying CBFs. However, the human assist control contains the complete information on the motion of environments; in general, a derivative of moving obstacle states needs estimating. In this paper, we apply an exact differentiator to estimate derivatives of obstacle state signals in real time. Then, we propose a human assist control by using both a time-varying CBF and an exact differentiator. Moreover, the effectiveness of the proposed method is confirmed by computer simulation and experiments of an electric wheelchair.

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