Input output linearization of nonlinear systems by output feedback

2002 ◽  
Author(s):  
X. Xia ◽  
C.H. Moog
Keyword(s):  
Nonlinear Systems ◽  
Output Feedback ◽  
Input Output ◽  
Input Output Linearization

An Input-Output Linearization Approach to the Control of an n-Body Articulated Vehicle

2001 ◽  
Vol 123 (3) ◽  
pp. 309-316 ◽  
Author(s):  
P. Bolzern ◽  
R. M. DeSantis ◽  
A. Locatelli
Keyword(s):  
Output Feedback ◽  
Feedback Linearization ◽  
Autonomous Vehicle ◽  
Path Tracking ◽  
Input Output ◽  
Linearization Technique ◽  
Articulated Vehicle ◽  
Input Output Linearization

The problem of path-tracking for an autonomous vehicle composed of a tractor and n−1 trailers with off-axle hitching is considered in this paper. It is shown that an input-output feedback linearization technique can be adopted both in forward and backward maneuvers, leading to the stabilization of the path-tracking offset dynamics about circular paths. The location of the guide-point needs to be selected according to the direction of motion, and, when moving backward, the off-axle distances must be all positive.

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