文章基本信息

标题：Contact Assist Control Barrier Function for Human Assist Control ⁎
本地全文：下载
作者：Y. Hayashi ; M. Igarashi ; H. Nakamura 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：741-746
DOI：10.1016/j.ifacol.2019.12.051
语种：English
出版社：Elsevier
摘要：In a modern aging society, electric wheelchairs are an essential means of transportation for the elderly. The methods for passing over a step safely with an electric wheelchair have attracted much attention. When an electric wheelchair contacts a step with speed 0, the vehicle does not receive a great shock. In this study, we propose a contact assist CBF based on a relaxed CBF. Moreover, we propose a method of human assist control using the contact assist CBF. We aim to design a control system such that the speed of a vehicle converges to 0 at the moment when the vehicle contacts the step. The effectiveness of the method is confirmed by two computer simulations.
关键词：KeywordsControl of HybridSwitched SystemsRoboticsLyapunov Stability MethodsHuman Supervisory ControlHuman Centered Design