文章基本信息

标题：Pose Control for Rigid Body Motion with an Input-to-state Safe Control Barrier Function
本地全文：下载
作者：Toshiyuki Murao ; Hiroyuki Kawai ; Masayuki Fujita 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：16
页码：394-399
DOI：10.1016/j.ifacol.2019.11.812
语种：English
出版社：Elsevier
摘要：In this paper, we present a pose control method for rigid body motion via an input-to-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.
关键词：KeywordsControl barrier functionpose controlrigid body motionobstacle avoidancecontrol Lyapunov functionsafetystability