Journal ArticleDOI
Nonlinear control via approximate input-output linearization: the ball and beam example
TLDR
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.Abstract:
Approximate input-output linearization of nonlinear systems which fail to have a well defined relative degree is studied. For such systems, a method for constructing approximate systems that are input-output linearizable is provided. The analysis presented is motivated through its application to a common undergraduate control laboratory experiment-the ball and beam-where it is shown to be more effective for trajectory tracking than the standard Jacobian linearization. >read more
Citations
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Journal ArticleDOI
Oscillation control in the underactuated “Ball and Beam” system
TL;DR: In this paper, the problem of oscillatory motion construction and stabilization for the under-actuated "Ball and Beam" system is considered, and a virtual holonomic constraints approach is used.
Proceedings ArticleDOI
Performance recovery of nonlinear model helicopter using extended high gain observer
Zheng Wang,Yuqing He,Jianda Han +2 more
TL;DR: In this paper, an extended high gain observer is introduced to estimate the outputs and their derivatives for rejecting the coupled disturbance, which can not only achieve stabilization or regulation, but also shape the transient response.
Journal ArticleDOI
Solving the nonlinear regulator equations by a single layer feedforward neural network
Yun-Chung Chu,Jie Huang +1 more
TL;DR: In this paper, a single hidden layer feed-forward neural network was proposed to solve the nonlinear regulator equations based on a single neural network, leading to an effective approach to approximately solve nonlinear servomechanism problem.
Journal ArticleDOI
Research on Non-switch Analytic Nonlinear Model Predictive Control Method for a Class of Nonlinear Systems: Research on Non-switch Analytic Nonlinear Model Predictive Control Method for a Class of Nonlinear Systems
Proceedings ArticleDOI
Comparison of H 2 controller design methods for non-uniform sampled-data systems
Maryam Khosroshahi,Iman Izadi +1 more
TL;DR: This paper designs H2 controller for non-uniform sampled-data systems, because these systems are time-varying, definitions such as Z-transform and H2-norm are not established and the controller should be designed in time domain.
References
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Book
Nonlinear Control Systems
Alberto Isidori,M. Thoma,Eduardo D. Sontag,B. W. Dickinson,A. Fettweis,J. L. Massey,J. W. Modestino +6 more
TL;DR: In this paper, a systematic feedback design theory for solving the problems of asymptotic tracking and disturbance rejection for linear distributed parameter systems is presented, which is intended to support the development of flight controllers for increasing the high angle of attack or high agility capabilities of existing and future generations of aircraft.
Book
Nonlinear Control Systems: An Introduction
TL;DR: This chapter discusses the development of Geometric Theory of State Feedback for Multi-Input Multi-Output Systems and its applications in control systems.
Book ChapterDOI
Output regulation of nonlinear systems
TL;DR: In this paper, the problem of controlling a fixed nonlinear plant in order to have its output track (or reject) a family of reference (or disturbance) signal produced by some external generator is discussed.
Journal ArticleDOI
Global transformations of nonlinear systems
TL;DR: In this paper, a technique for constructing a transformation under the assumption that {g\ldot[f\dotg],...,(adn-1}f\ldotsg)} span an n -dimensional space and that the set is an involutive set.