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.
Intelligent Switching Control of Nonlinear Non-Minimum Phase Relative Degree two Systems
2002 ; Porto (Portugal)
01.09.2001
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Tracking Control of Nonlinear Systems with No Relative Degree
British Library Online Contents | 2002
|British Library Online Contents | 2013
|Discontinuous Integral Control for Systems with Arbitrary Relative Degree
Springer Verlag | 2020
|British Library Online Contents | 2004
|