Pose Control for Rigid Body Motion with an Input-to-state Safe Control Barrier Function
Toshiyuki Murao, Hiroyuki Kawai, Masayuki Fujita · IFAC-PapersOnLine · 2019
In this paper, we present a pose control method for rigid body motion via an input-to-state safe control barrier function (ISSf-CBF). After discussing the kinematic model for a rigid body, we design an ISSf-CBF for obstacle avoidance. Next, we present a control Lyapunov function (CLF) for a control error system which possesses a passivity property. By using the ISSf-CBF and 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 under input disturbances. Finally, simulation results confirm the validity of the proposed ISSf-CBF control method compared to the stabilizing one.