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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Proceedings ArticleDOI
Nonlinear compensator synthesis via linear parameter-varying control
Douglas A. Lawrence,M. Sznaier +1 more
TL;DR: In this paper, a nonlinear compensator synthesis framework is presented that merges techniques for linear parameter-varying (LPV) systems with ideas derived from linearization-based gain scheduling.
Journal ArticleDOI
Stabilization and equilibrium control of a new pneumatic cart-seesaw system
J. Lin,J. h. Zhan,Julian Chang +2 more
TL;DR: The proposed new pneumatic cart-seesaw system is straightforward to construct and direct to operate in different scenarios of performance, and adds a supervisory controller that takes control action in extreme situations.
Journal ArticleDOI
Adaptive subset hood for neural fuzzy control
TL;DR: Gaussian or bell-shaped fuzzy sets are used to simplify Kosko's fuzzy measure of subsethood to a measure of mutual subsethood or fuzzy equivalence and allow supervised learning to learn and tune the fuzzy rules.
Pneumatic muscle actuators within robotic and mechatronic systems
TL;DR: In this article, a four legged walking robot actuated by pneumatic artificial muscles (PAMs) is presented, which is able to provide the appropriate functions required during the rehabilitation of patients and the loss of mobility.
Proceedings ArticleDOI
An original circular ball-and-beam system: Stabilization strategy under saturating control with large basin of attraction
Yannick Aoustin,A. M. Formal'sky +1 more
TL;DR: In this article, the stabilization of an original beam-and-ball system with two unstable modes was studied, and a control law for this system was designed, using the Jordan form of its model, linearized near the unstable equilibrium.
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.