Human Assist Control of Electric Wheelchair Using Zeroing Control Barrier Function for Non-autonomous System

In recent years, an increasing number of accidents involving electric wheelchairs have been attributed to errors in human operation. To improve the safety of control systems, Nakamura et al. proposed a human assist control law using a control barrier function (CBF). The zeroing CBF (ZCBF) proposed by Ames et al. cannot consider non-autonomous systems. In this study, we propose a human-assist control law using the ZCBF for a non-autonomous system. Moreover, we implemented a ZCBF for non-autonomous system based human assist control on an electric wheelchair and confirmed the effectiveness of the proposed law through simulations and experiments.