Matteo Parigi Polverini1, Davide Nicolis2, Andrea Maria Zanchettin3, Paolo Rocco3
10:25 - 10:30 | Tue 30 May | Room 4111 | TUA2.7
The present paper extends the invariance control approach for constrained control of nonlinear systems, by making use of positive invariance properties for output tracking purposes. The proposed control law allows to drive the system state to a desired equilibrium that conveniently lies on the boundary of the invariant set, by exclusively exploiting set invariance and Lyapunov stability conditions, thus avoiding the definition of a nominal controller. Its application to a robot implicit force control problem is presented and its effectiveness is experimentally validated on an industrial robot equipped with a force sensor.