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
Stabilizing Control for a ball and beam system considering the restricted beam angle and ball speed
Dai Kinoshita,Kazunobu Yoshida +1 more
TL;DR: A nested saturating control law is derived that has the property that when the ball is transferred, its speed is mostly limited less than the specific value, and an IMC controller is constructed with the internal model of the control system itself in the outer feedback loop.
Journal ArticleDOI
An Adaptive Variable Structure Control Scheme for Underactuated Mechanical Manipulators
Jung Hua Yang,Kuang Shine Yang +1 more
TL;DR: In this article, an adaptive variable structure scheme is presented to solve the problem of actuators failure in the case of failure of the actuators in a factory automation robot, which can maintain asymptotic stability in case of actuator failure.
Proceedings ArticleDOI
Static & dynamic sliding mode control of ball and beam system
TL;DR: In this paper, the authors presented an application of static and dynamic sliding mode control of ball and beam system for matched disturbance rejection in a complete nonlinear system without model approximation, and compared static sliding mode controller (SSMC) and Dynamic SLM controller (DSMC).
Book ChapterDOI
Generalities and State-of-the-Art on the Control of Underactuated Mechanical Systems
TL;DR: The second chapter gives a brief overview of the control of underactuated mechanical systems and a brief state-of-the-art on various control design approaches applied to these systems is given.
Proceedings ArticleDOI
Design of an embedded control system based on the quasi-time optimal control law when limiting the control signal for the ball and beam system
TL;DR: The design of the quasi-time optimal control law for Ball and Beam system when the control signal is limited and the synthesizing method ensures that the embedded control system works stably and the system works quickly in terms of time.
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.