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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.

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:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Mareczek, JörgTechnische Universität MünchenUNSPECIFIED
Hecker, SimonUNSPECIFIEDUNSPECIFIED
Buss, MartinTechnische Universität BerlinUNSPECIFIED
Date:September 2001
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
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 (until 2012)
Deposited By: DLR-Beauftragter, elib
Deposited On:14 Mar 2006
Last Modified:31 Jul 2019 19:15

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