Input-constrained Human Assist Control via Control Barrier Function for Viability Kernel

This paper introduces control barrier functions for viability kernels, where a control input that enforces the safety of a system exists, to address a human assist control problem under input constraints. This paper also introduces a CBF-based human assist controller that satisfies both state and input constraints if an initial state of a system is contained in viability kernels. We lastly demonstrate how viability kernels are represented by system states and confirm the effectiveness of the proposed controller by computer simulation.