In this paper we extend earlier results on Invariance Control to the special class of nonlinear control input affine systems with relative degree two. A switching strategy for control parameters and an easy to calculate invariance region together form an intelligent switching Invariance Controller, achieving asymptotic stability for the controlled dynamics and positive invariance of a prescribed bounded state space region. Experiments with an underactuated robot show the applicability of the proposed theory.


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    Titel :

    Intelligent Switching Control of Nonlinear Non-Minimum Phase Relative Degree two Systems


    Beteiligte:
    Mareczek, Jörg (Autor:in) / Hecker, Simon (Autor:in) / Buss, Martin (Autor:in)

    Kongress:

    2002 ; Porto (Portugal)


    Erscheinungsdatum :

    01.09.2001


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





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