Pose Control for Rigid Body Motion with an Input-to-state Safe Control Barrier Function

被引：1
|
作者：
Murao, Toshiyuki [1 ]
Kawai, Hiroyuki [1 ]
Fujita, Masayuki [2 ]
机构：
[1] Kanazawa Inst Technol, Kanazawa, Ishikawa, Japan
[2] Tokyo Inst Technol, Tokyo, Japan
来源：
IFAC PAPERSONLINE | 2019年 / 52卷 / 16期
关键词：
Control barrier function; pose control; rigid body motion; obstacle avoidance; control Lyapunov function; safety; stability;
D O I：
10.1016/j.ifacol.2019.11.812
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we present a pose control method for rigid body motion via an inputto-state safe control barrier function (ISSf-CBF). After discussing the kinematic model for a rigid body, we design an ISSf-CBF for obstacle avoidance. Next, we present a control Lyapunov function (CLF) for a control error system which possesses a passivity property. By using the ISSf-CBF and CLF, we discuss a unified quadratic program formulation that ensures both safety and stability for pose control of rigid body motion under input disturbances. Our proposed approach, which deals with both the position and the orientation of rigid body motion, connects the safety and the stability via the ISSf-CBF and the CLF under input disturbances. Finally, simulation results confirm the validity of the proposed ISSf-CBF control method compared to the stabilizing one. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：394 / 399
页数：6
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