A non-exact Brunovsky form and dynamic feedback linearization

2005 ◽  
Author(s):  
J.B. Pomet ◽  
C.H. Moog ◽  
E. Aranda
Keyword(s):  
Feedback Linearization ◽  
Dynamic Feedback

A Robust Approach to Dynamic Feedback Linearization for a Steerable Nips Mechanism

2008 ◽  
Author(s):  
Edgar I. Ergueta ◽  
Robert Seifried ◽  
Roberto Horowitz
Keyword(s):  
Control Strategy ◽  
Feedback Linearization ◽  
Position Control ◽  
Control Strategies ◽  
Successful Implementation ◽  
Experimental Setup ◽  
Dynamic Feedback ◽  
Robust Approach ◽  
Internal Loops ◽  
Steerable Nips

This paper presents two different control strategies for paper position control in printing devices. The first strategy is based on feedback linearization plus dynamic extension (dynamic feed-back linearization). Even though this controller is very simple to design, we show that it is not able to handle actuator multiplicative uncertainties, and therefore it fails when it is implemented on the experimental setup. The second strategy we present uses similar concepts, but it is more robust since feedback linearization is used only to linearize the kinematics of the system and internal loops are used to locally control the actuator’s positions and velocities. Not only do we prove the robustness of the second control strategy, but we also show its successful implementation.

Dynamic Feedback Linearization for Electrohydraulically Actuated Control Systems

1995 ◽  
Vol 117 (4) ◽  
pp. 468-477 ◽  
Author(s):  
Gholamreza Vossoughi ◽  
Max Donath
Keyword(s):  
Control Systems ◽  
Feedback Linearization ◽  
Operating Conditions ◽  
Control Law ◽  
Dynamic Feedback ◽  
Uncertainty Model ◽  
Rotational Joint ◽  
Linearized System ◽  
Linear Controllers ◽  
Robust Control Systems

Using the dynamic inversion principal, a globally linearizing feedback control law is developed for an electrohydraulic servo system. The proposed control law is implemented on a rotational joint driven by a linear actuator. The results from experiments indicate that better uniformity of response is achieved across a wider range of operating conditions than would otherwise be possible. Improved symmetry is obtained for the extension and retraction phases of motion for an asymmetric actuator under various loading conditions and actuator positions. As a result of the improvements in linearity, significantly better performance is achieved when using linear controllers. To incorporate the effects of parametric uncertainties on the feedback linearization, a state space linear fractional representation of the parametrically uncertain linearized system is also developed. This uncertainty model is specifically suited for the design of robust control systems using the μ-synthesis and H∞ based approach.

An Advanced Patient Lift and Transfer Device for the Home

2010 ◽  
Vol 4 (1) ◽  
Author(s):  
Roger Bostelman ◽  
Ji-Chul Ryu ◽  
Tommy Chang ◽  
Joshua Johnson ◽  
Sunil K. Agrawal
Keyword(s):  
Autonomous Navigation ◽  
Feedback Linearization ◽  
Dynamic Feedback ◽  
Safety Standards ◽  
Improved Stability ◽  
Linearization Stability ◽  
Rapid Pace ◽  
Autonomous Mobility ◽  
And Control ◽  
Novel Design

The home lift, position, and rehabilitation (HLPR) chair has a unique design and novel capabilities when compared with conventional powered wheelchairs. In addition to mobility, it provides lift and can transfer patients. Even though medical devices are developing at a rapid pace today, an aspect that is often overlooked in these developments is adherence to “rider safety standards.” The contributions of this paper are threefold: (i) novel design of a lift and transfer system, (ii) experiments and results toward improved stability test designs that include HLPR-type devices to meet rider safety standards, and (iii) autonomous navigation and control based on nonlinear system theory of dynamic feedback linearization. Stability experimental results show promise for multipurpose patient mobility, lift, and transfer devices such as HLPR. A method for autonomous maneuvers was tested in simulation and experiments. We also expect the autonomous or semi-autonomous mobility mode of the vehicle to be useful for riders who have potential neural and cognitive impairments.

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