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
Stabilization of Ball-On-Sphere System with Super Twisting (ST) Sliding Mode Control (SMC) as a Method of Chattering Reduction
TL;DR: In this article, a ball-on-sphere system was designed and a super twisting SMC was designed to reduce the chattering of the system and the results showed that the real effect of applying a 2nd order SMC is faster asymptotic stability of the origin.
“Ball and beam” virtual laboratory: a teaching aid in automatic control courses
TL;DR: In this paper, the authors describe an interactive learning tool that can be used in control systems lectures to a better understanding of some control methods and to improve control systems design, which can also be used for problem solving and individual learning of different control methods.
Proceedings ArticleDOI
Application of Higher-Order Sliding-Modes to a Ball and Plate System
TL;DR: This paper presents a control strategy that combines feedback-linearization with higher-order sliding-mode control for the tracking control of a cam-plate driven ball and plate system.
Journal ArticleDOI
Automatic rule generation of fuzzy logic controllers based on asynchronous coevolution of rule-level subpopulations
Jonghyeok Jeong,Se-Young Oh +1 more
TL;DR: The superiority of the proposed algorithm over traditional FLC-level evolution approaches has been demonstrated by evolving FLCs for two typical nonlinear control problems -the ball-and-beam and the cazt-pole systems.
Proceedings ArticleDOI
Human-inspired algebraic curves for wearable robot control.
TL;DR: This article proposes employing algebraic curves to represent human walking data for wearable robot controller design, and employs the 3L fitting algorithm, a tool developed in the pattern recognition literature for fitting implicit polynomial curves to given datasets.
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.