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
Neural network-based PID compensation for nonlinear systems: ball-on-plate example
Amin Mohammadi,Ji-Chul Ryu +1 more
TL;DR: A neural network (NN)-based feedback controller is proposed in order to compensate for the errors caused by using an approximated dynamic model in controller design and results that achieve better stabilization and trajectory tracking performance are provided.
Journal ArticleDOI
Guaranteed cost control of affine nonlinear systems via partition of unity method
Dongfang Han,Ling Shi +1 more
TL;DR: A GCC law is synthesized based on the equivalent model in the presence of modeling error under certain error condition to ensure that the system under control is asymptotically stable as well as that a given cost function is upper-bounded.
Journal ArticleDOI
ZD, ZG and IOL Controllers and Comparisons for Nonlinear System Output Tracking with DBZ Problem Conquered in Different Relative-Degree Cases
Jian Li,Jian Li,Jian Li,Mingzhi Mao,Mingzhi Mao,Mingzhi Mao,Yunong Zhang,Yunong Zhang,Yunong Zhang,Dechao Chen,Dechao Chen,Dechao Chen,Yonghua Yin,Yonghua Yin,Yonghua Yin +14 more
TL;DR: In this article, the output tracking control of general-form single-input single-output (SISO) nonlinear systems with the problem of division by zero (DBZ) is considered.
Journal ArticleDOI
Higher order approximate feedback linearization about a manifold for multi-input systems
Zhigang Xu,Jay Hauser +1 more
TL;DR: This work considers the problem of approximately feedback linearizing a multi-input nonlinear system around the equilibrium manifold while making the error terms be of highest order on the manifold.
Proceedings ArticleDOI
Control of a ball and beam like mechanism
S. Uran,K. Jezernik +1 more
TL;DR: This work proposed a cascaded computed torque controller which is in fact another approximate nonlinear controller which has strong resemblance with standard computed torque method in the case of design and implementation effort.
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.