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
More filters
Journal ArticleDOI
Robust Control of Underactuated Systems: Higher Order Integral Sliding Mode Approach
TL;DR: In this article, a robust control design for the class of underactuated uncertain nonlinear systems is presented, which is capable of maintaining sliding mode from the very beginning and the closed loop stability of these systems are presented in an impressive way.
Proceedings ArticleDOI
Approximate feedback linearization: homotopy operator approach
A. Banaszuk,J. Hauser +1 more
TL;DR: In this article, a homotopy operator is used to decompose a single-input nonlinear system into an exact and antiexact part, which is then used to define a change of coordinates to a normal form that approximates the original system.
Proceedings ArticleDOI
Motion Control of Ball and Plate System Using Supervisory Fuzzy Controller
TL;DR: In this article, a supervisory fuzzy controller was proposed for under-actuated ball and plate systems, which is composed of two layers. The low layer defined a SIRM fuzzy rule and an importance degree for each input item, and the high layer performed supervisory task for ball's velocity and acceleration.
Journal ArticleDOI
Numerical Stabilisation of Non-linear Systems: Exact Theory and Approximate Numerical Implementation
Mazen Alamir,Nicolas Marchand +1 more
TL;DR: In this paper, a theoretical background is presented for the stabilisation of non-linear systems and a numerical implementation is then proposed that avoids the integration of the differential system.
Journal ArticleDOI
Pareto optimum control of a 2-DOF inverted pendulum using approximate feedback linearization and sliding mode control
TL;DR: A cart-type inverted pendulum is controlled using combining of two methods of approximate feedback linearization and sliding mode control, optimized by a hybrid algorithm based on the particle swarm optimization and genetic algorithm.
References
More filters
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.