Zeroing Control Barrier Functions for Safe Volitional Pedaling in a Motorized Cycle
Sign Up to like & getrecommendations! Published in 2020 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2021.04.100
Abstract: A minimally restrictive robust controller is developed for a motorized rehabilitative cycling system. The controller yields a forced-use movement therapy that constrains the rider’s cadence to remain within a user-defined range. The controller is designed… read more here.
Keywords: cadence; control; control barrier; zeroing control ... See more keywords
Funnel Control for Uncertain Nonlinear Systems via Zeroing Control Barrier Functions
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Control Systems Letters"
DOI: 10.1109/lcsys.2022.3227514
Abstract: We consider the funnel-control problem for control-affine nonlinear systems with unknown drift term and parametrically uncertain control-input matrix. We develop an adaptive control algorithm that uses zeroing control barrier functions to accomplish trajectory tracking in… read more here.
Keywords: control barrier; control; zeroing control; nonlinear systems ... See more keywords