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.
Takai, Maki; Igarashi, Motoi; and Nakamura, Hisakazu
"CONTROL BARRIER FUNCTION DESIGN USING REVIVED TRANSFORMATION,"
Journal of Marine Science and Technology: Vol. 28
, Article 7.
Available at: https://jmstt.ntou.edu.tw/journal/vol28/iss5/7