E-resources
Peer reviewed
-
Ueki, Satoshi; Ikeda, Takahiro; Yamada, Hironao
Artificial life and robotics, 11/2023, Volume: 28, Issue: 4Journal Article
Safety–critical system is important in a human–robot collaborative environment. Control Barrier Functions (CBFs)-based methods have emerged as a practical tool for the safety–critical control of autonomous systems. The design of CBFs is difficult to tune. Also, once additional constraints are introduced, the quadratic programming may encounter infeasibility. This paper proposes a safety–critical controller based on a control barrier function using a quasi-saturation function. To avoid infeasibility, we propose to separate the tracking controller from the safety controller. To facilitate the design of the control barrier function, we also propose the control barrier function using the quasi-saturation function. Numerical simulations are presented to show the effectiveness of the proposed method.
![loading ... loading ...](themes/default/img/ajax-loading.gif)
Shelf entry
Permalink
- URL:
Impact factor
Access to the JCR database is permitted only to users from Slovenia. Your current IP address is not on the list of IP addresses with access permission, and authentication with the relevant AAI accout is required.
Year | Impact factor | Edition | Category | Classification | ||||
---|---|---|---|---|---|---|---|---|
JCR | SNIP | JCR | SNIP | JCR | SNIP | JCR | SNIP |
Select the library membership card:
If the library membership card is not in the list,
add a new one.
DRS, in which the journal is indexed
Database name | Field | Year |
---|
Links to authors' personal bibliographies | Links to information on researchers in the SICRIS system |
---|
Source: Personal bibliographies
and: SICRIS
The material is available in full text. If you wish to order the material anyway, click the Continue button.