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Abstract

The state constraint problem is an essential topic in control theory, wherein control methods using a control barrier function (CBF) and a revived transformation have been recently proposed. However, a way of designing the CBF is yet to be developed in a constrained space. In this study, we propose a CBF design method by using a revived transformation. Our method can design a CBF in a constrained space by utilizing a diffeomorphism from an unconstrained space. We demonstrate the effectiveness of the proposed method by human assist control design and computer simulation.

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