Intelligent switching control of nonlinear non-minimum phase relative degree two systems

Author

Mareczek, Jorg ; Hecker, Simon ; Buss, Martin

Author_Institution

Inst. of Autom. Control Eng., Tech. Univ. Munchen, Munich, Germany

fYear

2001

fDate

4-7 Sept. 2001

Firstpage

985

Lastpage

990

Abstract

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.

Keywords

asymptotic stability; intelligent control; invariance; nonlinear control systems; state-space methods; switching systems (control); asymptotic stability; control parameters; controlled dynamics; intelligent switching invariance controller; invariance region calculation; nonlinear control input affine systems; nonlinear nonminimum phase relative degree two systems; positive invariance; prescribed bounded state space region; switching strategy; underactuated robot; Aerospace electronics; Asymptotic stability; Joints; Robots; Switches; Trajectory; geometric; nonlinear control; nonminimum phase; switching; underactuated robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2001 European

Conference_Location

Porto

Print_ISBN

978-3-9524173-6-2

Type

conf

Filename

7076041