Strict Zeroing Control Barrier Function for Continuous Safety Assist Control
Issei Tezuka, Hisakazu Nakamura
Abstract
Control barrier functions (CBFs) have been yielding successful implementations in various control strategies. In this letter, we propose a human assist controller using a zeroing CBF (ZCBF). To ensure the forward-completeness of every solution to a nonautonomous system, we provide the “strict” definition of a ZCBF. Then, we obtain a global condition for a ZCBF from the strict conditions. We simultaneously prove that the proposed controller ensures the forward-completeness and the safety of a nonautonomous system. The effectiveness of the proposed controller using a strict ZCBF is confirmed by a mathematical example.
Topics & Concepts
Control (management)Function (biology)Computer scienceRisk analysis (engineering)BusinessArtificial intelligenceBiologyEvolutionary biologyAdvanced Control Systems OptimizationFault Detection and Control SystemsStability and Control of Uncertain Systems