論文
制御バリア関数を用いた外乱下において安全性を保障するヒューマンアシスト制御
2021 年 57 巻 8 号 p. 339-348
詳細
2021 年 57 巻 8 号 p. 339-348
In recent years, research to guarantee the safety of a control system under disturbance attracts much attention. In this paper, we propose an input-to-state constrained safety control barrier function (ISCSf-CBF) and a human assist control law with the proposed ISCSf-CBF. We aim to design a control system that guarantees safety under input disturbance. The effectiveness of the proposed control method is confirmed by computer simulation.
