Invariance control is a novel approach from control theory for constrained control of nonlinear systems. This paper extends the invariance control method to multi-input systems subject to nonlinear constraints. Experimental results of two robotic applications demonstrate the flexibility of the invariance control approach. The first scenario is trajectory supervision. The second one is haptic rendering of rigid surfaces. Experiments are conducted on a 3 DOF robot arm.
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Scheint et al. (2008) studied this question.
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