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An input-output feedback linearization-Based Exponentially Stable Controller for Multi-UAV Payload Transport

UNMANNED SYSTEMS 2025年第2期13卷 521-539页

作者： Rao, Nishanth Sundaram, Suresh Indian Inst Sci Dept Aerosp Engn CV Raman Rd Bengaluru Karnataka India

In this paper, an exponentially stable trajectory tracking controller is proposed for multi-UAV payload transport. The multi-UAV payload system has a 2-DOF magnetic spherical joint between the UAVs and the vertical rigid links of the payload frame so that the UAVs can roll or pitch freely. These vertical links are rigidly attached to the payload and cannot move. An input-output feedback linearized model is derived for the complete payload-UAV system along with thrust vectoring control for trajectory tracking of the payload. Theoretical analysis of tracking control laws is shown to be exponentially stable, thus guaranteeing safe transportation along the desired trajectory. To validate the performance of the proposed control law, the results for a numerical simulation as well as a high-fidelity Gazebo real-time simulation are presented. The tracking performance is compared to the existing techniques in the literature, and it is seen that the proposed approach has the least RMSE for tracking performance. Next, the robustness of the proposed controller is analyzed against two practical situations: External disturbance on the payload and payload mass uncertainty. The results clearly indicate that the proposed controller is robust and computationally efficient while achieving exponentially stable trajectory tracking.

关键词： Payload-UAV system input-output feedback linearization thrust vectoring control exponentially stable tracking high fidelity software-in-loop simulation

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Q-learning based model-free input-output feedback linearization control method ? 22

Q-learning based model-free input-output feedback linearizat...

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22nd World Congress of the International Federation of Automatic Control (IFAC)

作者： Sun, Yipu Chen, Xin He, Wenpeng Zhang, Ziying Fukushima, Edwardo F. She, Jinhua China Univ Geosci Sch Automat Wuhan 430074 Peoples R China Hubei Key Lab Adv Control & Intelligent Automat C Wuhan 430074 Peoples R China Minist Educ Engn Res Ctr Intelligent Technol Geo Explorat Wuhan 430074 Peoples R China China Univ Geosci Sch Arts & Commun Wuhan 430074 Peoples R China Tokyo Univ Technol Sch Engn Hachioji Tokyo 1920982 Japan

ISBN: (纸本)9781713872344

input-output feedback linearization is a nonlinear control method that relies on a precise dynamical model. Combining Q-learning techniques, an input-output feedback linearization correction framework is presented to accomplish model-free feedback linearization of affine nonlinear systems in order to tackle the problem caused by the unknown dynamics model. This framework formulates a model reference tracking control problem that guides the input-output relationship of the nonlinear system into a linear relationship. Due to the two Lie derivative terms present in the feedback linearized controller, the controller is designed as a dual network structure. To overcome the issue of coupling in the dual-network controller, a model-free Q-learning method is presented to solve the unknown controller network weights. The proposed method is experimentally validated on a single-link flexible joint manipulator system, and the resultant linearized system exhibits dynamics similar to the desired linear system in a new tracking task, proving the effectiveness of the proposed method. Copyright (c) 2023 The Authors.

关键词： input-output feedback linearization unknown nonlinear systems Q-learning model-free nonlinear control method.

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Parametric uncertainty handling of under-actuated nonlinear systems using an online optimal input-output feedback linearization controller

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SYSTEMS SCIENCE & CONTROL ENGINEERING 2021年第1期9卷 209-218页

作者： Mahmoodabadi, M. J. Andalib Sahnehsaraei, M. Sirjan Univ Technol Dept Mech Engn Sirjan Iran Natl Iranian Gas Co NIGC Ramsar Iran

This research introduces a new online optimal control based on the input-output feedback linearization and a multi-crossover genetic algorithm for under-actuated nonlinear systems having parametric uncertainties. At first, the input-output feedback linearization method is successfully implemented to derive the control law for a two degrees of freedom cart-pole nonlinear system. Then, the regarded optimization algorithm is applied to find the design parameters of the controller for different values of the uncertain variables. Next, an approximation function is suggested to calculate the optimum gains of the controller in the presence of the uncertainties in the system parameters. The simulation results are illustrated to prove the effectiveness and adeptness of the introduced scenario to overcome some common issues in the actual systems, i.e. under-actuating nonlinearities and uncertainties.

关键词： Online optimal control input-output feedback linearization multi-crossover cart-pole nonlinear system parametric uncertainty

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Q -learning based model-free input-output feedback linearization control method ⋆

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IFAC-PapersOnLine 2023年第2期56卷 9534-9539页

作者： Yipu Sun Xin Chen Wenpeng He Ziying Zhang Edwardo F. Fukushima Jinhua She School of Automation China University of Geosciences Wuhan 430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan 430074 China School of Engineering Tokyo University of Technology Hachioji Tokyo 192-0982 Japan School of Arts and Communication China University of Geosciences Wuhan 430074 China

input-output feedback linearization is a nonlinear control method that relies on a precise dynamical model. Combining Q -learning techniques, an input-output feedback linearization correction framework is presented to accomplish model-free feedback linearization of affine nonlinear systems in order to tackle the problem caused by the unknown dynamics model. This framework formulates a model reference tracking control problem that guides the input-output relationship of the nonlinear system into a linear relationship. Due to the two Lie derivative terms present in the feedback linearized controller, the controller is designed as a dual network structure. To overcome the issue of coupling in the dual-network controller, a model-free Q -learning method is presented to solve the unknown controller network weights. The proposed method is experimentally validated on a single-link flexible joint manipulator system, and the resultant linearized system exhibits dynamics similar to the desired linear system in a new tracking task, proving the effectiveness of the proposed method.

关键词： input-output feedback linearization unknown nonlinear systems Q-learning model-free nonlinear control method

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Piecewise Nonlinear Modeling Approach to Design Nonlinear Controllers Using input-output feedback linearization for Discrete-Time Nonlinear Systems 25

Piecewise Nonlinear Modeling Approach to Design Nonlinear Co...

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25th International Conference on System Theory, Control and Computing (ICSTCC)

作者： Taniguchi, Tadanari Sugeno, Michio Tokai Univ STEM Educ Ctr Kanagawa Japan Emeritus Tokyo Inst Technol Tokyo Japan

ISBN: (纸本)9781665414968

A regulator and model following controller via input-output feedback linearization for discrete-time nonlinear systems were derived using discrete-time piecewise multilinear models in this paper. The piecewise multilinear (PML) system has nonlinear dynamics, and is built by the corner values of the regions. input-output feedback linearization was applied to the PML for the conversion of each PML system into one linearized system called the Brunovsky normal form. Two examples were exhibited to confirm the advantages of the controllers in numerical simulations.

关键词： piecewise system discrete-time nonlinear control regulator model following control input-output feedback linearization

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Control of an Underactuated 4 Cable-Driven Parallel Robot using Modified input-output feedback linearization 21st

Control of an Underactuated 4 Cable-Driven Parallel Robot us...

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21st IFAC World Congress on Automatic Control - Meeting Societal Challenges

作者： Kumar, Atal Anil Antoine, Jean-Francois Abba, Gabriel Univ Lorraine Arts & Metiers Inst Technol LCFC HESAM Univ F-57070 Metz France

This paper presents the control of an underactuated four Cable-Driven Parallel Robot (CDPR) using a modified input-output feedback linearization technique. The effect of internal dynamics (due to the underactuated degrees of freedom of the CDPR) on the behavior of the moving platform is presented to highlight the need of an improved controller to stabilize the system outputs. A modified control scheme is then proposed as a solution to obtain stable system outputs. A structure with two separate branches is modeled to simultaneously act on the control inputs and the mathematical calculations are done using the well-established equations of nonlinear control theory. Following this, the response of the system to the modified control law is then verified by simulation. A comparison between the classical and modified feedback linearization is shown to illustrate the significant improvement in the stabilization of the various parameters such as the cable tensions and platform orientations. Copyright (C) 2020 The Authors.

关键词： Underactuated CDPR input-output feedback linearization Internal dynamics nonlinear control stability

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Improved DTC-SVM Based on input-output feedback linearization Technique Applied on DOEWIM Powered by Two Dual Indirect Matrix Converters

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ENERGIES 2021年第18期14卷 5625-5625页

作者： Sellah, Mourad Kouzou, Abdellah Mohamed-Seghir, Mostefa Rezaoui, Mohamed Mounir Kennel, Ralph Abdelrahem, Mohamed Djelfa Univ Fac Sci & Technol Appl Automat & Ind Diag Lab LAADI Djelfa 17000 Algeria Nisantasi Univ Elect & Elect Engn Dept TR-34398 Istanbul Turkey Gdynia Maritime Univ Dept Ship Automat PL-81225 Gdynia Poland Tech Univ Munich TUM Inst Elect Drive Syst & Power Elect EAL D-80333 Munich Germany Assiut Univ Fac Engn Elect Engn Dept Assiut 71516 Egypt

This paper focuses on the application of the direct torque control based on space vector modulation (DTC-SVM), combined with the input-output feedback linearization (IOFL) technique on a three-phase dual open-end windings induction motor (DOEWIM) fed by two dual indirect matrix converters. The main aim of integrating the non-linear technique is to overcome the main drawbacks met within the application of the conventional DTC-SVM on dual-stator induction motor (DSIM), such as the torque and flux ripples reduction, the stator harmonics current minimization, and the elimination of the common-mode voltage (CMV). Furthermore, it is proved in this paper that the proposed control on DOEWIN can ensure more flexibility versus speed reverse and variation, load torque changes, and motor parameters variation. The obtained results prove the validity of the proposed control on the studied induction motor topology in ensuring the main aforementioned advantages compared to the conventional DTC-SVM control on DSIM, which presents a promising solution, especially in industrial applications in which high-power motors are required.

关键词： DTC DTC-SVM input-output feedback linearization dual open-end winding induction machine common-mode voltage

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Control of an Underactuated 4 Cable-Driven Parallel Robot using Modified input-output feedback linearization

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IFAC-PapersOnLine 2020年第2期53卷 8777-8782页

作者： Atal Anil Kumar Jean-François Antoine Gabriel Abba Université de Lorraine Arts et Metiers Institute of Technology LCFC HESAM Université F-57070 Metz France

关键词： Underactuated CDPR input-output feedback linearization Internal dynamics nonlinear control stability

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Two-stage input-output feedback linearization controller for AC-AC converter-based SST 10

Two-stage Input-Output Feedback linearization controller for...

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10th International Power Electronics, Drive Systems and Technologies Conference (PEDSTC)

作者： Beiranvand, Hamzeh Rokrok, Esmaeel Acikgoz, Hakan Liserre, Marco Lorestan Univ Dept Elect Engn Khorramabad Lorestan Iran Kilis 7 Aralik Univ Dept Elect Sci Kilis Turkey Christian Albrechts Univ Kiel Chair Power Elect Kiel Schleswig Holst Germany

ISBN: (纸本)9781538692547

Classical transformers are the most important constituent of the power system and act as a passive interface between high voltage and low voltage systems. They have undesirable characteristics such as poor voltage regulation, large size/weight, sensitivity to harmonics, and poor power flow control. Solid-state Transformers (SSTs), are an emerging power electronics-based technology, sought to replace classical transformers after a century. SSTs are equivalent to a classical transformer with embedded desired functionalities. In this paper, three-phase AC-AC converter with capacitor at the DC-link is employed as power electronic interface in MV and LV side of the SST. input-output feedback linearization (IOFL) controller is used to control the AC-AC based SST in two stages for controlling the external and internal states. AC-AC SST is linearized by the input-output feedback linearization technique where an internal dynamics is observed. IOFL is used to control the internal dynamics and second stage of the controller in the outer loop. Simulation studies are realized to confirm the applicability of IOFL controller and the control method.

关键词： input-output feedback linearization AC-AC Converter Solid-State Transformers

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Nonlinear SVM-DTC for induction motor drive using input-output feedback linearization and high order sliding mode control

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ISA TRANSACTIONS 2017年 67卷 428-442页

作者： Ammar, Abdelkarim Bourek, Amor Benakcha, Abdelhamid Biskra Univ Dept Elect Engn LGEB Lab Biskra Algeria

This paper presents a nonlinear Direct Torque Control (DTC) strategy with Space Vector Modulation (SVM) for an induction motor. A nonlinear input-output feedback linearization (IOFL) is implemented to achieve a decoupled torque and flux control and the SVM is employed to reduce high torque and flux ripples. Furthermore, the control scheme performance is improved by inserting a super twisting speed controller in the outer loop and a load torque observer to enhance the speed regulation. The combining of dual nonlinear strategies ensures a good dynamic and robustness against parameters variation and disturbance. The system stability has been analyzed using Lyapunov stability theory. The effectiveness of the control algorithm is investigated by simulation and experimental validation using Matlab/Simulink software with real-time interface based on dSpace 1104. (C) 2017 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Induction motor Direct torque control input-output feedback linearization Super twisting dS1104

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