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
Robust Adaptive Sliding-Mode Control for Fuzzy Systems With Mismatched Uncertainties
TL;DR: This paper is devoted to design adaptive sliding-mode controllers for the Takagi-Sugeno (T--S) fuzzy system with mismatched uncertainties and exogenous disturbances with linear-matrix inequalities.
Journal ArticleDOI
Model-Free Control and Intelligent PID Controllers: Towards a Possible Trivialization of Nonlinear Control ?
Michel Fliess,Cédric Join +1 more
TL;DR: A model-free control and a control with a restricted model for finite-dimensional complex systems that may be viewed as a contribution to "intelligent" PID controllers, the tuning of which becomes quite straightforward, even with highly nonlinear and/or time-varying systems.
Journal ArticleDOI
Decoupled fuzzy sliding-mode control
Ji-Chang Lo,Ya-Hui Kuo +1 more
TL;DR: The decoupled sliding-mode control (SMC) is used to control three highly nonlinear systems and confirms the validity of the proposed approach.
Proceedings ArticleDOI
A separation principle for the stabilization of a class of nonlinear systems
A.N. Atassi,Hassan K. Khalil +1 more
TL;DR: In this paper, it was shown that the performance of a globally bounded partial state feedback control of an input-output linearizable system can be recovered by a sufficiently fast high-gain observer.
Journal ArticleDOI
A Survey of Underactuated Mechanical Systems
Yang Liu,Hongnian Yu +1 more
TL;DR: In this paper, a survey of underactuated mechanical systems (UMS) is presented, from its history to the state-of-the-art research on modelling, classification, control, and to some extent, provides some unique insights for bottleneck issues and future research directions.
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.