A Control Lyapunov Function Approach to Safeguarded Shared Control
Wei Ren, Randal W. Beard · 2003
In this paper, control Lyapunov functions are used to define static and dynamic safe regions for a system. Based on a control Lyapunov function, a "feasible input set" is defined as all feasible controls for this CLF according to attractive behaviors and repulsive behaviors. If the system is within a specified safe region, the human input will be used as the control input to the system. If the system is outside the specified safe region, the human input will be snapped to the closest control element in the feasible input set. Behavior based strategies are applied to achieve smooth transition from human input to snapped control input so as to guarantee maximum flexibility for humans as well as system stability and minimum base-line performance. An illustrative example for a mobile robot shows the effectiveness of the approach.