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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    Title :

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


    Contributors:

    Conference:

    2002 ; Porto (Portugal)


    Publication date :

    2001-09-01


    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English





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