Local transverse feedback linearization with partial information for single-input systems

2012 ◽  
Author(s):  
Christopher Nielsen ◽  
Manfredi Maggiore
Keyword(s):  
Feedback Linearization ◽  
Partial Information ◽  
Single Input ◽  
Transverse Feedback Linearization

scholarly journals Tuning and Feasibility Analysis of Classical First-Order MIMO Non-Linear Sliding Mode Control Design for Industrial Applications

Machines ◽  
2019 ◽  
Vol 7 (1) ◽  
pp. 10 ◽  
Author(s):  
Alessandro Palmieri ◽  
Renato Procopio ◽  
Andrea Bonfiglio ◽  
Massimo Brignone ◽  
Marco Invernizzi ◽  
...  
Keyword(s):  
Feedback Linearization ◽  
Sliding Mode ◽  
Parameter Tuning ◽  
Industrial Applications ◽  
Single Input Single Output ◽  
First Order ◽  
Control Techniques ◽  
Single Output ◽  
System A ◽  
Single Input

Model-based control techniques have been gaining more and more interest these days. These complex control systems are mostly based on theories, such as feedback linearization, model predictive control, adaptive and robust control. In this paper the latter approach is investigated, in particular, sliding mode (SM) control is analyzed. While several works on the description and application of SM control on single-input single-output systems can easily be found, its application on multi-input multi-output systems is not examined in depth at the same level. Hence, this work aims at formalizing some theoretical complements about the necessary conditions for the feasibility of the SM control for multi-input-multi-output systems. Furthermore, in order to obtain the desired performance from the control system, a method for parameter tuning is proposed in the particular case in which the relative degree of the controlled channels is equal to one. Finally, a simple control problem example is shown with the aim of stressing the benefits derived from the application of the theoretical complements described here.

scholarly journals Restriction of Transverse Feedback Linearization for Piecewise Linear Paths

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Gildeberto de Souza Cardoso ◽  
Leizer Schnitman ◽  
José Valentim dos Santos Filho ◽  
Luiz Carlos Simões Soares Júnior
Keyword(s):  
Mobile Robot ◽  
Feedback Linearization ◽  
Piecewise Linear ◽  
Domain Of Attraction ◽  
Path Following ◽  
Transverse Feedback Linearization

This work presents a path-following controller for a unicycle robot. The main contribution of this paper is to demonstrate the restriction of transverse feedback linearization (TFL) to obtuse angles on piecewise linear paths. This restriction is experimentally demonstrated on a Kobuki mobile robot, where it is possible to observe, as a result of the limitation of the TFL, the convergence to another domain of attraction.

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