Landing posture control of a generalized 5-RDOF twin-body system via methods of input-output linearization and PD control

2007 ◽  
Author(s):  
Yi-Ling Yang ◽  
Cheng-Cheng Yang ◽  
Paul C.-P. Chao ◽  
Cheng-Kuo Sung
Keyword(s):  
Posture Control ◽  
Body System ◽  
Input Output ◽  
Pd Control ◽  
Input Output Linearization

Landing Posture Control of a Generalized Twin-Body System Via Methods of Input-Output Linearization and Computed Torque

2007 ◽  
Author(s):  
Yi-Ling Yang ◽  
Paul C.-P. Chao ◽  
Cheng-Kuo Sung
Keyword(s):  
Structural Damage ◽  
Initial Conditions ◽  
Equations Of Motion ◽  
Posture Control ◽  
Body System ◽  
Input Output ◽  
Bipedal Robot ◽  
Nonlinear Equations Of Motion ◽  
Computed Torque ◽  
Input Output Linearization

This study is dedicated to achieve landing posture control of a generalized twin-body system using the methods of input-output linearization and computed torque. The twin-body system is a simplified model of bipedal robot, and the success in landing posture control would prevent structural damage. To the end, the dynamic equations are built based on Newton-Euler formulation. The technique of input-output linearization is next applied to the original nonlinear equations of motion, which is followed by adopting the method of computed torque to achieve desired landing postures. While designing the controller, system singularities are circumvented by choosing controllable set of initial conditions and stable landing postures. There are two uncontrollable postures that are immovable under input torques or/and the coupling centripetal and Coriolis forces. Finally, simulation results show that the designed controller is capable of performing desired landing posture control.

Two-degree-of-freedom Controller Design for Uncertain Processes Using Input/output Linearization Control Technique

2011 ◽  
Vol 11 (1) ◽  
pp. 16 ◽  
Author(s):  
Pisit Sukkarnkha ◽  
Chanin Panjapornpon
Keyword(s):  
Disturbance Rejection ◽  
Control Structure ◽  
Control Method ◽  
Random Noise ◽  
Degree Of Freedom ◽  
Control Technique ◽  
Input Output ◽  
Tracking Controller ◽  
Two Degree Of Freedom ◽  
Input Output Linearization

In this work, a new control method for uncertain processes is developed based on two-degree-of-freedom control structure. The setpoint tracking controller designed by input/output linearization technique is used to regulate the disturbance-free output and the disturbance rejection controller designed is designed by high-gain technique. The advantage of two-degree-of-freedom control structure is that setpoint tracking and load disturbance rejection controllers can be designed separately. Open-loop observer is applied to provide disturbance-free response for setpoint tracking controller. The process/disturbance-free model mismatches are fed to the disturbance rejection controller for reducing effect of disturbance. To evaluate the control performance, the proposed control method is applied through the example of a continuous stirred tank reactor with unmeasured input disturbances and random noise kinetic parametric uncertainties. The simulation results show that both types of disturbances can be effectively compensated by the proposed control method.

Control of a biomass-furnace based on input-output-linearization

2015 ◽  
Author(s):  
Christoph Schorghuber ◽  
Markus Reichhartinger ◽  
Martin Horn ◽  
Markus Golles ◽  
Richard Seeber
Keyword(s):  
Input Output ◽  
Input Output Linearization
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