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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Book ChapterDOI
Model Based Identification and Adaptive Compensation of Nonsmooth Nonlinearities
Béla Lantos,Lőrinc Márton +1 more
TL;DR: First, a friction and backlash measurement and identification method is presented for robotic manipulators that can be performed in closed loop using velocity controller and how the procedure can be extended for hydraulic actuators.
Journal ArticleDOI
An Approximate Solution of Regulator Equation for Nonlinear Systems by RBF Network
Journal ArticleDOI
Learning to control from expert demonstrations
TL;DR: This paper shows how to combine expert demonstrations into a stabilizing controller, provided that demonstrations are sufficiently long and there are at least n + 1 of them, where n is the number of states of the system being controlled.
Journal ArticleDOI
Switching Piecewise Bilinear Control of Nonlinear Systems with Singularities
TL;DR: In this article, the stabilization of nonlinear systems with singularities via switching piecewise bilinear (PB) control is proposed. But, the stabilization is based on switching a piecewise Lyapunov-like function for each piecewise region and using a hybrid control method.
Proceedings ArticleDOI
Robust approximate control of time-varying uncertain nonlinear systems
TL;DR: In this article, a control scheme for nonlinear systems with unknown, time-varying parameters or disturbances whose bounds are known, but are not required to enter linearly in the state equations is presented.
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.