Abstract
In this paper, design of a switching control law is discussed for a constrained nonlinear system with focus on the PD control of the SICE-DD arm. In particular, admissible sets for the given constraints are computed with sum-of-squares polynomials and then utilized for design of a switching rule. Since the technique of sum-of-squares polynomials requires large computational cost in general, a known Lyapunov function is used for reduction of the computational cost. Although this Lyapunov function includes trigonometric functions, they can be replaced by approximating polynomials so as to allow application of the sum-of-squares technique. A numerical example shows efficacy of the proposed method.
