イブキ　タツヤ   IBUKI TATSUYA   伊吹　竜也    所属   明治大学  理工学部    職種   専任准教授
言語種別	日本語
発行・発表の年月	2023/01
形態種別	学術雑誌
査読	査読あり
標題	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
執筆形態	共著(筆頭者以外)
掲載誌名	電気学会論文誌C
掲載区分	国内
出版社・発行元	電気学会
巻・号・頁	143(1),67-75頁
総ページ数	9
著者・共著者	村尾俊幸，松本浩輔，河合宏之，伊吹竜也，藤田政之
概要	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.