TY - GEN
T1 - Continuous control mode transitions for invariance control of constrained nonlinear systems
AU - Wolff, Jan
AU - Weber, Carolina
AU - Buss, Martin
PY - 2007
Y1 - 2007
N2 - Invariance control addresses the problem of control of nonlinear affine systems in the presence of state constraints. Admissibility is guaranteed by keeping an admissible subset of state space positively invariant by switching of the control on the boundary of the set. A modification of the invariance controller is proposed that replaces the switching between the invariance control modes with a continuous transition. As a result, robustness with respect to parameter perturbations and disturbances increases. The effectiveness of the approach is validated by numerical simulation of an example system.
AB - Invariance control addresses the problem of control of nonlinear affine systems in the presence of state constraints. Admissibility is guaranteed by keeping an admissible subset of state space positively invariant by switching of the control on the boundary of the set. A modification of the invariance controller is proposed that replaces the switching between the invariance control modes with a continuous transition. As a result, robustness with respect to parameter perturbations and disturbances increases. The effectiveness of the approach is validated by numerical simulation of an example system.
UR - http://www.scopus.com/inward/record.url?scp=62749085769&partnerID=8YFLogxK
U2 - 10.1109/CDC.2007.4434916
DO - 10.1109/CDC.2007.4434916
M3 - Conference contribution
AN - SCOPUS:62749085769
SN - 1424414989
SN - 9781424414987
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 542
EP - 547
BT - Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 46th IEEE Conference on Decision and Control 2007, CDC
Y2 - 12 December 2007 through 14 December 2007
ER -