scholarly journals Control Design of Nonlinear Spacecraft System Based on Feedback Linearization Approach

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 116626-116641
Author(s):  
Chung-Cheng Chen ◽  
Yen-Ting Chen
Keyword(s):  
Feedback Linearization ◽  
Control Design ◽  
Feedback Linearization Approach

A Robust Control Design Approach Combining Exact Linearization and High-Gain PI-Observer

2007 ◽  
Author(s):  
Yan Liu ◽  
Dirk So¨ffker
Keyword(s):  
Feedback Linearization ◽  
Control Method ◽  
High Gain ◽  
Observer Design ◽  
Input State ◽  
Exact Linearization ◽  
Practical Applications ◽  
Robust Control Design ◽  
Nonlinear Control Method ◽  
Feedback Linearization Approach

This paper introduces a robust nonlinear control method combining classical feedback linearization and a high-gain PI-Observer (Proportional-Integral Observer) approach that can be applied to control a nonlinear single-input system with uncertainties or unknown effects. It is known that the lack of robustness of the feedback linearization approach limits its practical applications. The presented approach improves the robustness properties and extends the application area of the feedback linearization control. The approach is developed analytically and fully illustrated. An example which uses input-state linearization and PI-Observer design is given to illustrate the idea and to demonstrate the advantages.

Dynamic modeling and design of controller for the 2-DoF serial chain actuated by a cable-driven robot based on feedback linearization

2021 ◽  
pp. 095440622110279
Author(s):  
Vahid Bahrami ◽  
Ahmad Kalhor ◽  
Mehdi Tale Masouleh
Keyword(s):  
Dynamic Modeling ◽  
Pid Controller ◽  
Feedback Linearization ◽  
Tracking Error ◽  
Pid Controllers ◽  
Serial Chain ◽  
Simulation Results ◽  
The Stability ◽  
Feedback Linearization Approach ◽  
Bounded Disturbance

This study intends to investigate a dynamic modeling and design of controller for a planar serial chain, performing 2-DoF, in interaction with a cable-driven robot. The under study system can be used as a rehabilitation setup which is helpful for those with arm disability. The latter goal can be achieved by applying the positive tensions of the cable-driven robot which are designed based on feedback linearization approach. To this end, the system dynamics formulation is developed using Lagrange approach and then the so-called Wrench-Closure Workspace (WCW) analysis is performed. Moreover, in the feedback linearization approach, the PD and PID controllers are used as auxiliary controllers input and the stability of the system is guaranteed as a whole. From the simulation results it follows that, in the presence of bounded disturbance based on Roots Mean Square Error (RMSE) criteria, the PID controller has better performance and tracking error of the 2-DoF robot joints are improved 15.29% and 24.32%, respectively.

scholarly journals A New Feedback Linearization-NSGA-II based Control Design for PEM Fuel Cell

2014 ◽  
Vol 97 (10) ◽  
pp. 25-32 ◽  
Author(s):  
Alireza Abaspour ◽  
Nasrin Tadrisi Parsa ◽  
Mohammad Sadeghi
Keyword(s):  
Fuel Cell ◽  
Feedback Linearization ◽  
Control Design ◽  
Pem Fuel Cell ◽  
Nsga Ii

Adaptive Attitude Controller Design for a Rigid Satellite with Feedback Linearization Approach

2020 ◽  
Vol 67 (4) ◽  
pp. 1445-1469
Author(s):  
Akram Adnane ◽  
Abdellatif Bellar ◽  
Mohammed Arezki Si Mohammed ◽  
Jiang Hong ◽  
Zoubir Ahmed Foitih
Keyword(s):  
Feedback Linearization ◽  
Controller Design ◽  
Attitude Controller ◽  
Feedback Linearization Approach

A Feedback Linearization-Based Motion Controller for a UWMR with Experimental Evaluations

Robotica ◽  
2019 ◽  
Vol 37 (6) ◽  
pp. 1073-1089 ◽  
Author(s):  
Luis Montoya-Villegas ◽  
Javier Moreno-Valenzuela ◽  
Ricardo Pérez-Alcocer
Keyword(s):  
Feedback Linearization ◽  
Vision System ◽  
Experimental Tests ◽  
Experimental Result ◽  
The Novel ◽  
Tracking Accuracy ◽  
Motion Controller ◽  
Wheeled Mobile Robots ◽  
Feedback Linearization Approach ◽  
Error State

SummaryIn this paper, the feedback linearization approach is used to introduce a motion controller for unicycle-type wheeled mobile robots (UWMRs). The output function is defined as a linear combination of the error state. The novel scheme is firstly tested in numerical simulation and compared with its corresponding experimental result. Three controllers are taken from the literature and compared to the proposed approach by means of experiments. The gains of the experimentally tested controllers are selected to obtain identical energy consumption. The Optitrack commercial vision system and Pioneer P3-DX UWMR are used in real-time experimental tests. In addition, two sets of experimental results for different motion tasks are provided. The results show that the proposed controller presents the best tracking accuracy.

Feedback linearization and backstepping: an equivalence in control design of strict-feedback form

2019 ◽  
Vol 37 (4) ◽  
pp. 1049-1069 ◽  
Author(s):  
Thanh T Tran
Keyword(s):  
Flight Control ◽  
Feedback Linearization ◽  
High Performance ◽  
Control Design ◽  
Backstepping Control ◽  
Analytical Models ◽  
Linear Feedback ◽  
Specific Class ◽  
Feedback Form ◽  
Non Linear

Abstract This paper investigates an equivalence between feedback linearization and backstepping control. Implications from equivalence are that stability and performance properties of one method are the same for another method. Thus, a property known to exist only for one method could be used to prove property also holds for another. Also, a suspected advantage of one method over the other could be proven to be a false conjecture. Control laws in both approaches are achieved by coordinate transformations and non-linear feedbacks. Further, resulting non-linear feedback control law achieved by feedback linearization method matches exactly with non-linear controller achieved by the backstepping control design. This equivalence is a general analytical match within the specific class of non-linear dynamic systems under investigation. Demonstrations are considered and validated via flight control of longitudinal dynamics of a high performance aircraft simulation model. Algorithms are tested and evaluated with analytical models and non-linear closed-loop simulation.

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