Proceedings ArticleDOI
Approximate feedback linearization: the cart-pole example
Nazareth Bedrossian
- pp 1987-1992
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TLDR
An existing nonlinear design methodology developed by Krener, approximate feedback linearization, is applied to the control of underactuated single-input-single-output nonlinear systems and a method to simplify the dynamics using partial precompensation which uses the constraint equations of motion is presented.Abstract:
An existing nonlinear design methodology developed by Krener (1984, 1987), approximate feedback linearization, is applied to the control of underactuated single-input-single-output nonlinear systems A computational approach to test for the order of linearization as well as a method to compute the approximate output function is derived A method to simplify the dynamics using partial precompensation which uses the constraint equations of motion is presented This approach is applied to a simple example Simulation results showed a substantial improvement in the operating range of the linear controller by using this approach >read more
Citations
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Journal ArticleDOI
Stability and Almost Disturbance Decoupling Analysis of Nonlinear System Subject to Feedback Linearization and Feedforward Neural Network Controller
TL;DR: The proposed approach provides the architecture of the neural network and the weights among the layers in order to guarantee stability of the system and renders the system to be stable with the almost disturbance decoupling property at each step of selecting weights to enhance the performance if the proposed sufficient conditions are maintained.
Journal ArticleDOI
Control of AMIRA’s ball and beam system via improved fuzzy feedback linearization approach
TL;DR: In this article, the tracking and almost disturbance decoupling problem of nonlinear AMIRA's ball and beam system based on the feedback linearization approach and fuzzy logic control is investigated.
Journal ArticleDOI
Fuzzy Feedback Linearization Control for MIMO Nonlinear System and Its Application to Full-Vehicle Suspension System
TL;DR: A novel fuzzy feedback linearization control of nonlinear multi-input multi-output (MIMO) systems for the tracking and almost disturbance decoupling (ADD) performances based on the fuzzy logic control (FLC) is presented.
Proceedings ArticleDOI
Time Critic Policy Gradient Methods for Traffic Signal Control in Complex and Congested Scenarios
TL;DR: A time-dependent baseline is proposed to reduce the variance of Policy Gradient updates in the setting of episodic conditions, thus improving the algorithm convergence to an optimal solution and achieving higher performance than traditional time-splitting policies and standard Policy Gradients.
Journal ArticleDOI
Application of feedback linearisation to the tracking and almost disturbance decoupling control of multi-input multi-output nonlinear system
Chung-Cheng Chen,Y.-F. Lin +1 more
TL;DR: In this paper, the tracking and almost disturbance decoupling problem of multi-input multi-output nonlinear systems based on the feedback linearisation approach is studied, and the main contribution is to construct a controller, under appropriate conditions, such that the resulting closed-loop system is valid for any initial condition and bounded tracking signal with the following characteristics: input-to-state stability with respect to disturbance inputs, that is, the influence of disturbances on the L/sub 2/norm of the output tracking error can be arbitrarily attenuated by changing some adjustable parameters.
References
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Book
Applied Nonlinear Control
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Journal ArticleDOI
Nonlinear control via approximate input-output linearization: the ball and beam example
TL;DR: In this paper, an approximate input-output linearization of nonlinear systems which fail to have a well defined relative degree is studied, and a method for constructing approximate systems that are input output linearizable is provided.
Journal ArticleDOI
On the linear equivalents of nonlinear systems
TL;DR: In this article, a complete characterization of the class of nonlinear systems which are equivalent to controllable linear systems is obtained, and an equivalence relation is established for the systems x = f(x, u).
Journal ArticleDOI
Approximate linearization by state feedback and coordinate change
TL;DR: In this article, the authors give necessary and sufficient conditions for a nonlinear system to be approximated to higher order by the transform of a linear system, and the use of this technique in the design of nonlinear compensators has been suggested recently.
Proceedings ArticleDOI
Nonlinear controllers for non-integrable systems: the Acrobot example
Jay Hauser,Richard M. Murray +1 more
TL;DR: In this article, the authors present an approach to controller design based on finding a linearizable nonlinear system that well approximates the true system over a desirable region, and demonstrate a nonlinear controller for a simple mechanical system patterned after a gymnast performing on a single parallel bar.