入力状態安全性を考慮した制御バリア関数を用いた位置姿勢制御

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2023/01/01

タイトル(英語): Pose Control With an Input-to-state Safe Control Barrier Function for Rigid Body Motion

著者名: 村尾　俊幸（金沢工業大学工学部），松本　浩輔（金沢工業大学大学院工学研究科），河合　宏之（金沢工業大学工学部），伊吹　竜也（明治大学理工学部），藤田　政之（東京大学大学院情報理工学系研究科）

著者名(英語): Toshiyuki Murao (College of Engineering, Kanazawa Institute of Technology), Kosuke Matsumoto (Graduate Program in Mechanical Engineering, Kanazawa Institute of Technology), Hiroyuki Kawai (College of Engineering, Kanazawa Institute of Technology), Tatsuya Ibuki (School of Science and Technology, Meiji University), Masayuki Fujita (Graduate School of Information Science and Technology, The University of Tokyo)

キーワード: 制御バリア関数，入力状態安全性，位置姿勢制御，制御リアプノフ関数，障害物回避_x000D_　　control barrier function，input-to-state safety，pose control，control Lyapunov function，obstacle avoidance

要約(英語): In this paper, we present a pose control method for rigid body motion via an input-to-state safe control barrier function (ISSf-CBF). The control objective is that a mobile robot converges to the desired pose with avoiding any obstacles under input disturbances. First, we derive a control error system to discuss stability via the Lyapunov method. Through the kinematic model for a rigid body, we design an ISSf-CBF for obstacle avoidance under input disturbances. Next, we present a control Lyapunov function (CLF) for the control error system. By using the ISSf-CBF and the 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. Finally, simulation and experimental results confirm the validity of the proposed ISSf-CBF control method compared to the stabilizing one.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.143 No.1 （2023） 特集：電子回路関連技術

本誌掲載ページ: 67-75 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/143/1/143_67/_article/-char/ja/