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Intelligent Switching Control of Nonlinear Non-Minimum Phase Relative Degree two Systems
Mareczek, Jörg and Hecker, Simon and Buss, Martin (2001) Intelligent Switching Control of Nonlinear Non-Minimum Phase Relative Degree two Systems. Proc. of the European Control Conference 2001, 2002-09-07 - 2002-09-07, Porto (Portugal). ISBN 972-752-047-2.
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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.
| Document Type: | Conference or Workshop Item (Paper) | ||||||||
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| Additional Information: | LIDO-Berichtsjahr=2001, | ||||||||
| Title: | Intelligent Switching Control of Nonlinear Non-Minimum Phase Relative Degree two Systems | ||||||||
| Authors: |
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| Date: | September 2001 | ||||||||
| Page Range: | pp. 985-990 | ||||||||
| Editors: |
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| ISBN: | 972-752-047-2 | ||||||||
| Status: | Published | ||||||||
| Keywords: | nonlinear control, switching, geometric, nonminimum phase, underactuated robot | ||||||||
| Event Title: | Proc. of the European Control Conference 2001 | ||||||||
| Event Location: | Porto (Portugal) | ||||||||
| Event Type: | international Conference | ||||||||
| Event Dates: | 2002-09-07 - 2002-09-07 | ||||||||
| Organizer: | ECC'01 | ||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||
| HGF - Program: | Space | ||||||||
| HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme | ||||||||
| DLR - Research area: | Space | ||||||||
| DLR - Program: | W SY - Technik für Raumfahrtsysteme | ||||||||
| DLR - Research theme (Project): | W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old) | ||||||||
| Location: | Oberpfaffenhofen | ||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics | ||||||||
| Deposited By: | elib DLR-Beauftragter | ||||||||
| Deposited On: | 14 Mar 2006 | ||||||||
| Last Modified: | 14 Jan 2010 17:57 |
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