Safe trajectory tracking control by input-to-state constrained safety control barrier function (ISCSf-CBF)
Yuya MURAMATSU, Yasuyuki Satoh, Masami Iwase · IFAC-PapersOnLine · 2024
Safe trajectory tracking, which involves following the target trajectory while avoiding obstacles, is crucial for mobile robots. In this paper, we propose a robust safety trajectory tracking controller based on the input-to-state stable tracking control Lyapunov function (ISS-TCLF) and the input-to-state constrained safety control barrier function (ISCSf-CBF). This controller makes it possible to realize trajectory tracking and obstacle avoidance while satisfying state constraints in the presence of disturbances. The proposed controller is applied to a two-wheeled mobile robot and its effectiveness is confirmed by computer simulations.