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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… Click to show full 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.
Journal Title: IEEE Control Systems Letters
Year Published: 2022
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