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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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input-output feedback linearization for nonminimum phase nonlinear systems through periodic use of synthetic outputs

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SYSTEMS & CONTROL LETTERS 2008年第8期57卷 626-630页

作者： Lee, Young Il Kouvaritakis, Basil Cannon, Mark Univ Oxford Dept Engn Sci Parks Rd Oxford OX1 3PJ England Seoul Natl Univ Technol Dept Control & Instrumentat Seoul South Korea

input-output feedback linearization provides a convenient means of extending linear control strategies such as output zeroing or pole placement to the case of nonlinear affine in the input systems, but such extensions cannot be applied in the presence of nonminimum phase characteristics. This paper overcomes this difficulty through the periodic use of a finite number of synthetic outputs which are so constructed as to define embedded dynamics with stable zero dynamics. The efficacy of the method is demonstrated by means of a numerical example. (C) 2008 Elsevier B.V. All rights reserved.

关键词： input-output feedback linearization nonminimum phase synthetic outputs zero dynamics periodic output zeroing

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input-output feedback linearization Based Control for Quasi-Z-Source Inverter in Photovoltaic Application

Input-Output Feedback Linearization Based Control for Quasi-...

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8th Annual IEEE Energy Conversion Congress and Exposition (ECCE)

作者： Gong, Hong Li, Yuan Wang, Yuhong Zhang, Rui Sichuan Univ Dept Elect Engn & Informat Technol Chengdu Peoples R China

ISBN: (纸本)9781509007370

The quasi-Z-source inverter (QZSI) has been presented suitable for solar photovoltaic applications mainly because of its one stage buck/boost capability and improved reliability. Carefully designed closed-loop control strategy is usually demanded by QZSI in photovoltaic applications for voltage boost, grid-connection and the maximum power point tracking (MPPT). Cascaded QZSI as to further step up voltage has even put on higher controlling requirements because of the interactive influence of one cascaded module on another. However, commonly used small signal analysis is a local linearization approach which is limited to represent the model of QZSI near its equilibrium point. Moreover, the high order state equation of the quasi-Z-source network usually provides hurdle for high performance controller with stable or fast response. This paper presents an input-output feedback linearization based control strategy for QZSI in two purposes: 1) to build a global linearized QZSI model with a wide operating range;and 2) to help design a controller with improved stable and dynamic performance. An average model for QZSI using state space averaging method is firstly developed. According to the analytic relation of system state variables, i. e. capacitor voltage and inductor current of the QZSI network, the fourth-order mathematical model is reduced to the second-order. input-output feedback theory is applied to the state space averaging model, where inductor current is selected deliberately as the output of the controller's inner loop. A dc-link feedback loop is developed to validate the input-output feedback linearized model. Evidences are provided by simulation and experiment to show the effectiveness of the proposed controller, where the effect of unstable zero-dynamic on dc-link voltage is reduced, and consequently the transferring of disturbance from dc side to the ac side of the QZSI is mitigated effectively.

关键词： Solar Photovoltaic Quasi-Z-Source Inverter input-output feedback linearization zero-dynamic

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Toward lower limbs movement restoration with input-output feedback linearization and model predictive control through functional electrical stimulation

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CONTROL ENGINEERING PRACTICE 2012年第2期20卷 182-195页

作者： Mohammed, S. Poignet, P. Fraisse, P. Guiraud, D. Univ Paris Est Creteil LISSI F-94400 Vitry Sur Seine France Univ Montpellier 2 LIRMM DEMAR Team CNRSINRIA F-34392 Montpellier France

Functional electrical stimulation (FES) is used to excite paralyzed muscles that are no longer controlled by patients with spinal cord injuries (SCI). Appropriate stimulation patterns are chosen to stimulate intact muscles, in order to extend their overall performance, postponing thus the muscular fatigue during the daily activities such as standing, standing up, sitting down and walking. This paper presents the modeling and the control of a knee joint actuated by the quadriceps muscles. Appropriate stimulation patterns are computed as a function of the desired lower-limb knee joint movements. Parameters of the biomechanical model are identified based on experimental kinematic data. Model predictive control (MPC) is applied to the input-output feedback linearized (IOFL) system. IOFL allows linearization by inverting the system dynamics through a nonlinear feedback transformation. The described control approach is validated through different simulation scenarios for knee flexion-extension. Internal dynamics stability is mathematically proved and performances are compared to those produced by classical pole placements method. The controller has shown satisfactory results in terms of regulation, stability and robustness with respect to external disturbances. (C) 2011 Elsevier Ltd. All rights reserved.

关键词： Muscle modeling Rehabilitation engineering Functional electrical stimulation input-output feedback linearization Model predictive control

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Reduction of torque ripple in DTC for induction motor using input-output feedback linearization

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TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES 2012年第3期20卷 273-285页

作者： Belkacem, Sebti Naceri, Farid Abdessemed, Rachid Univ Batna Dept Elect Engn Batna Algeria

Direct torque control (DTC) is known to produce fast responses and robust control in AC adjustable-speed drives. However, in the steady-state operation, notable torque, flux, and current pulsations occur. In this paper, nonlinear DTC of induction motor drives is presented based on a space vector pulse-width modulation scheme combined with the input-output feedback linearization technique. The variation of stator and rotor resistance due to changes in temperature or frequency deteriorates the performance of the DTC controller by introducing errors in the estimated flux linkage and the electromagnetic torque. This approach will not be suitable for high power drives such as those used in tractions, as they require good torque control performance at a considerably lower frequency. Finally, extensive simulation results are presented to validate the proposed technique. The system is tested at different speeds and a very satisfactory performance is achieved.

关键词： Direct torque control with space vector pulse-width modulation key parameter variations robustness input-output feedback linearization

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Direct torque and flux regulation of synchronous reluctance motor drives based on input-output feedback linearization

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ENERGY CONVERSION AND MANAGEMENT 2010年第1期51卷 71-80页

作者： Zarchi, H. Abootorabi Markadeh, Gh. R. Arab Soltani, J. Isfahan Univ Technol Fac Elect & Comp Engn Esfahan Iran Shahrekord Univ Dept Engn Shahrekord Iran

In this paper, a nonlinear speed tracking controller is introduced for three-phase synchronous reluctance motor (SynRM) on the basis of input-output feedback linearization (IOFL), considering the different control strategies (maximum torque per Ampere, high efficiency and minimum KVA rating for the inverter) related to this motor. The proposed control approach is capable of decoupling control of stator flux and motor generated torque. The validity and effectiveness of the method is verified by simulation and experimental results. (C) 2009 Elsevier Ltd. All rights reserved.

关键词： Synchronous reluctance motor Nonlinear controller input-output feedback linearization Iron losses Direct flux Torque control

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Synchronization of nonlinear heterogeneous cooperative systems using input-output feedback linearization

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AUTOMATICA 2014年第10期50卷 2578-2585页

作者： Bidram, Ali Lewis, Frank L. Davoudi, Ali Univ Texas Arlington Dept Elect Engn Arlington TX 76019 USA Univ Texas Arlington Res Inst Arlington TX 76019 USA

In this paper, input-output feedback linearization is used to design distributed controls for multi-agent systems with nonlinear and heterogeneous non-identical dynamics. Using feedback linearization, the nonlinear and heterogeneous dynamics of agents are transformed to identical linear dynamics and non-identical internal dynamics. Based on the dependence of agent outputs on agent inputs, feedback linearization may lead to a first-order or high-order tracking synchronization problem. The controller for each agent is designed to be fully distributed such that each agent only requires its own information and the information of its neighbors. The effectiveness of the proposed control protocols are verified by simulation on a microgrid test system. Published by Elsevier Ltd.

关键词： Distributed cooperative control input-output feedback linearization Multi-agent system

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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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Dynamics and input-output feedback linearization control of a wheeled mobile cable-driven parallel robot

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MULTIBODY SYSTEM DYNAMICS 2017年第1期40卷 55-73页

作者： Korayem, M. H. Yousefzadeh, M. Manteghi, S. Iran Univ Sci & Technol Sch Mech Engn Ctr Excellence Expt Solid Mech & Dynam Robot Res Lab Tehran Iran

In comparison to the conventional parallel robots, cable-driven parallel robots (CDPRs) have generally superior features such as simple production technology, low energy consumption, large workspace, high payload to moving weight ratio, and also low cost. On the other hand, a wheeled mobile robot (WMR) which is capable of covering a vast area can be used when no specific space is designated for the stationary accessories of a robot. In this paper, the integration of a CDPR with a WMR is proposed to overcome some of the issues related to each of these robots. The kinematic equations of the robot are presented. To derive the dynamic equations, Gibbs-Appel (G-A) formulation is used, which in contrary to the Lagrange formulation benefits from advantages of quasi-velocities over generalized coordinates as well as not requiring Lagrange multipliers. The dynamic equations of the two parts are coupled, and the interacting effects are observable from the governing equations. By considering non-holonomic wheels for the robot, internal dynamics appears in the equations. However, based on some conditions, the equations are input-output linearizable via a static feedback. The platform trajectory is designed based on the given end-effector trajectory. The effectiveness of the controller is shown through simulations and experimental tests.

关键词： Cable-driven parallel robots Wheeled mobile robots Non-holonomic constraints Gibbs-Appel formula input-output feedback linearization Trajectory planning

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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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