Non-compact positively invariant sets and their application to the control of speed constrained mechanical systems with saturated actuators

Abstract

This paper deals with the control of mechanical systems subject to speed constraints. The proposed control law is designed by using non-compact positively invariant sets. Non-compact sets are used to explore the position regulation control problem under speed constraints for a mechanical system using a nonlinear controller under the restriction that the speed on every joint may never transgress a preestablished bound. In contrast with compact set approaches, this is done while not imposing a bound on the position error. The nonlinear controller is verified through experimental evaluation on a two degree of freedom robotic manipulator.