Nonlinear System Design: Adaptive Feedback Linearization with Unmodeled Dynamics

1991 ◽  
Author(s):  
Peter V. Kokotovic
Keyword(s):  
Nonlinear System ◽  
System Design ◽  
Feedback Linearization ◽  
Unmodeled Dynamics ◽  
Adaptive Feedback

Optimal Control of an Assisted Passive Snake-Like Robot Using Feedback Linearization

2007 ◽  
Author(s):  
Saman Mohammadi ◽  
Zoya Heidari ◽  
Hojjat Pendar ◽  
Aria Alasty ◽  
Gholamreza Vossoughi
Keyword(s):  
Optimal Control ◽  
Nonlinear System ◽  
Nonlinear Control ◽  
Feedback Linearization ◽  
Equations Of Motion ◽  
Dynamic Equations ◽  
Unmodeled Dynamics ◽  
Pd Controller ◽  
Simulation Results ◽  
Distinct Line

In this paper we follow two approaches in optimal nonlinear control of a snake-like robot. After deriving the dynamic equations of motion using Gibbs-Appell method, reducing these equations, and some assumptions, feedbacklinearization method was used to linearize the nonlinear system. The obtained controller is used in simulations to control robot to track a desired line, with minimum required torques. Two goals are desired. First the robot’s head is expected to track a distinct line with a given speed. And next, tracking the serpenoid curve is desired. The simulation results prove the controller efficiency. The robustness of the designed controller is shown by comparing the torques with the required torques using a PD controller. Additionally, although we had model mismatches and unmodeled dynamics in controller part, we achieved the desired goals.

Adaptive Feedback Linearization Controller for Stabilization of Quadrotor UAV

2020 ◽  
Vol 12 (4) ◽  
Author(s):  
Ahmed Eltayeb ◽  
◽  
Mohd Fuaad Rahmat ◽  
Mohd Ariffanan Mohd Basri ◽  
◽  
...  
Keyword(s):  
Feedback Linearization ◽  
Adaptive Feedback ◽  
Quadrotor Uav
Sign in / Sign up

Export Citation Format

Share Document