Contact Assist Control Barrier Function for Human Assist Control. Issue 16 (2019)

• Record Type: Journal Article
• Authors: Hayashi, Y.; Igarashi, M.; Nakamura, H.
• Is Part Of: IFAC-PapersOnLine. Volume 52:Issue 16(2019)
• Page Start: 741
• Page End: 746
• Publication Date: 2019
• Subjects: Control of Hybrid -- Switched Systems -- Robotics -- Lyapunov Stability Methods -- Human Supervisory Control -- Human Centered Design; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2019.12.051
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In a modern aging society, electric wheelchairs are an essential means of transportation for the elderly. The methods for passing over a step safely with an electric wheelchair have attracted much attention. When an electric wheelchair contacts a step with speed 0, the vehicle does not receive a great shock. In this study, we propose a contact assist CBF based on a relaxed CBF. Moreover, we propose a method of human assist control using the contact assist CBF. We aim to design a control system such that the speed of a vehicle converges to 0 at the moment when the vehicle contacts the step. The effectiveness of the method is confirmed by two computer simulations.