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
Lie algebra application to mobile robot control: a tutorial
Paulo Coelho,Urbano Nunes +1 more
TL;DR: The study of path following control of a mobile robot using an input-output feedback linearization controller is performed and the effectiveness of the nonlinear controller is illustrated with simulation examples.
Journal ArticleDOI
Design of fuzzy wavelet neural networks using the GA approach for function approximation and system identification
TL;DR: An efficient genetic algorithm approach is used to adjust the parameters of dilation, translation, weights, and membership functions of fuzzy wavelet neural network to improve the function approximation accuracy and general capability of the FWNN system.
Book
Feedback linearizing control
Michael A. Henson,Dale E. Seborg +1 more
TL;DR: This chapter differs from existing reviews of feedback linearization by providing a balanced discussion of theoretical and practical issues of interest to process control engineers.
Proceedings ArticleDOI
Global asymptotic stabilization of the ball-and-beam system
TL;DR: In this paper, a new saturation control law was proposed for the well known ball-and-beam system, which employs state-dependent saturation levels and guarantees global asymptotic stability.
Journal ArticleDOI
Stabilization and Disturbance Attenuation of Nonlinear Systems Using Dissipativity Theory
TL;DR: The connections between Lyapunov designs and the problem of achieving passivity by feedback are stressed, and the implications of dissipativity theory as an appropriate framework to study the nonlinear H^ control problem are shown.
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.