Invariance Control Design for Constrained Nonlinear Systems
Abstract
This paper focuses on the control of nonlinear control affine systems that are subject to hard state constraints. The control concept is based on the invariance control approach and is designed as an extension of an ordinary feedback controller. Compliance with the state constraints is achieved by a switching controller that makes a constraint admissible state space region positive invariant. The control method is demonstrated by numerical simulation of an example system.
