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, Porto (Portugal). ISBN 972-752-047-2.

Preview

PDF
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.

Item URL in elib:

https://elib.dlr.de/11739/

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:

Authors	Institution or Email of Authors	Author's ORCID iD	ORCID Put Code
Mareczek, Jörg	Technische Universität München	UNSPECIFIED	UNSPECIFIED
Hecker, Simon	UNSPECIFIED	UNSPECIFIED	UNSPECIFIED
Buss, Martin	Technische Universität Berlin	UNSPECIFIED	UNSPECIFIED

Date:

September 2001

Open Access:

Yes

Gold Open Access:

In SCOPUS:

In ISI Web of Science:

Page Range:

pp. 985-990

Editors:

Editors	Email	Editor's ORCID iD	ORCID Put Code
J.L. Martins de Carvalho, F.A.C.C. Fontes e M. d. R. de Pinho	UNSPECIFIED	UNSPECIFIED	UNSPECIFIED

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 Date:

7 September 2002

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 (until 2012)

Deposited By:

DLR-Beauftragter, elib

Deposited On:

14 Mar 2006

Last Modified:

24 Apr 2024 18:59

Repository Staff Only: item control page