elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Contact | Deutsch
Fontsize: [-] Text [+]

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.

[img]
Preview
PDF - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader
1MB

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)
Additional Information:LIDO-Berichtsjahr=2001,
Title:Intelligent Switching Control of Nonlinear Non-Minimum Phase Relative Degree two Systems
Authors:
AuthorsInstitution or Email of Authors
Mareczek, JörgTechnische Universität München
Hecker, SimonUNSPECIFIED
Buss, MartinTechnische Universität Berlin
Date:September 2001
Page Range:pp. 985-990
Editors:
EditorsEmail
J.L. Martins de Carvalho, F.A.C.C. Fontes e M. d. R. de PinhoUNSPECIFIED
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 (old)
HGF - Program:Space (old)
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:12 Dec 2013 20:01

Repository Staff Only: item control page

Browse
Search
Help & Contact
Informationen
electronic library is running on EPrints 3.3.12
Copyright © 2008-2012 German Aerospace Center (DLR). All rights reserved.