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
Adaptive hierarchical sliding mode control for ball-beam systems
TL;DR: In this article, an adaptive hierarchical sliding mode control (SMC) law is addressed for the class by modifying the expression of the hierarchical SMC, the presented method is able to cover the special case The adaptive law and the control law are deduced from Lyapunov direct method.
Proceedings ArticleDOI
Beam-and-Ball System under Limited Control: Stabilization with large basin of attraction
TL;DR: This article is devoted to the stabilization of the well known straight beam-and- ball system and an original circular beam- and-ball system, where the feedback control for each system ensures the basin of attraction as large as possible.
Proceedings ArticleDOI
A new adaptive state feedback controller for the ball and beam system
TL;DR: A new state feedback adaptive controller for the ball and beam system is presented and it is shown that the backstepping controller has a superior performance when the linear model is used, however, it has a very poor performanceWhen the nonlinear model is employed.
Journal ArticleDOI
Hierarchical fuzzy logic scheme with constraints on the fuzzy rule
Moon G. Joo,Jin S. Lee +1 more
TL;DR: A certain class of functions is shown to be approximated to any degree of accuracy by the proposed hierarchical fuzzy system.
Dissertation
Quelques contributions à la commande non linéaire des robots marcheurs bipèdes sous-actionnés
TL;DR: In this paper, two nouvelles approches de commande sous-actionnes have been proposed, i.e., predictive non lineaire de faible dimension and linearisation partielle par retour d'etat.
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.