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output parameterization based on invariant relative degree

IFAC Proceedings Volumes 2011年第1期44卷 11080-11085页

作者： Kazuma Sekiguchi Mitsuji Sampei Tokyo Institute of Technology Tokyo Japan

Abstract In this paper, the change of the relative degree structure at the controllable equilibrium is discussed. In the neighborhood of the controllable equilibrium, all nonlinear systems are approximated to linear controllable system. The gap between the original nonlinear system and approximate linear system appears as a change of the relative degree structure. By comparison of these two structures, the necessary and sufficient condition is derived in order for the equilibrium not to be singular point via the input-output linearization. Based on this result, the selection of the output function is proposed. Moreover the output design method for linear stable zero dynamics is proposed.

关键词： output parameterization Zero dynamics input-output linearization Point relative degree linearly stable

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Throwing Motion Control of the Pendubot via Explosively Unstable Zero Dynamics

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IFAC Proceedings Volumes 2011年第1期44卷 14602-14607页

作者： Takuya Shoji Kazuma Sekiguchi Mitsuji Sampei Tokyo Institute of Technology Tokyo Japan

Abstract The objective of this paper is to present systematic methods for throwing motion control of underactuated robots. The Pendubot, an underactuated two-link planar robot, is investigated as a dynamic model of the superior limbs for imitation of human throwing motion whose models are fundamentally underactuated in nature. The controller is designed based on input-output linearization and output zeroing control since the Pendubot is not input-state linearizable. The originality of this paper is to intentionally destabilize the zero dynamics, a nonlinear dynamics which remains unobservable from the output when the partially linearized dynamics converges exponentially to zero, to generate dynamic acceleration of the ball. Exact analysis of ordinary differential equations guarantees the explosive instability of the zero dynamics. Numerical simulations confirm the effectiveness of the proposed control strategy.

关键词： Underactuated Mechanical Systems The Pendubot input-output linearization Robotics output Zeroing Control Unstable Zero Dynamics Explosive Instability

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Region of Admissible Values for Discrete-time Nonlinear Control System Linearized by output Feedback.

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IFAC Proceedings Volumes 2011年第1期44卷 209-214页

作者： Juri Belikov Eduard Petlenkov Institute of Cybernetics Tallinn University of Technology Akadeemia tee 21 12618 Tallinn Estonia Department of Computer Control Tallinn University of Technology Ehitajate tee 5 19086 Tallinn Estonia

Abstract The paper considers stability of nonlinear discrete-time system linearized by output feedback. The boundedness of the control signal inside the linearized closed-loop system is studied in the research presented in this article. The algorithm for determination of the region of admissible inputs of the closed-loop system ensuring bounded-input bounded-output behavior of the controlled model is introduced. Both static and dynamic output feedback linearization algorithms are examined. To make the research more clear, the main results and applicability of the theory presented in the paper are demonstrated on several examples.

关键词： nonlinear control systems input-output linearization output feedback stability reference model

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Tracking Control of Air-breathing Hypersonic Aircrafts in Cruising Flight Based on Sliding Mode Method

Tracking Control of Air-breathing Hypersonic Aircrafts in Cr...

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第三十届中国控制会议

作者： MU Chaoxu~(1,2.3),WANG Bin~3,SUN Changyin~(1,3),YU Xinghuo~(1,2,3) 1.School of Automation,Southeast University,Nanjing,Jiangsu 210096,P.R.China 2.School of Electrical and Computer Engineering,RMIT University,Melbourne,Victoria 3000,Australia 3.Platform Technologies Research Institute,RMIT University,Melbourne,Victoria 3000,Australia

Due to nonlinear coupling and complex fight dynamics,the control of hypersonic aircrafts is usually *** this paper,taking the longitudinal motion of a general air-breathing hypersonic aircraft as the controlled object,we designed a sliding mode controller to control velocity and altitude tracking based on input-output *** velocity and altitude subsystems can be obtained by linearization and highest order derivatives of outputs in the two subsystems are designed to satisfy the sufficient and necessary condition of sliding mode control based on Lyapunov functions.A saturation function is used in the sliding mode controller to reduce chattering instead of the discontinuous sign *** is studied to validate that the controller based on sliding mode can make the aircraft system stable and meet the desired tracking performance.

关键词： Air-breathing hypersonic aircraft Sliding mode control input-output linearization Chattering

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Two equivalent control structures for an electrohydraulic actuator

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING 2010年第I5期224卷 599-609页

作者： Ayalew, B. Clemson Univ Int Ctr Automot Res Greenville SC 29607 USA

Two non-linear control structures are considered for position control of an electrohydraulic actuator. The first control structure is derived from a direct near input-output (IO) linearization of the actuator model with position as output. The second control structure is a cascade of a near IO linearizing pressure force controller as an inner loop to a feedback plus feedforward outer-loop position controller. In the present paper, it is shown that the two control structures are theoretically equivalent. Then, it is highlighted that the equivalence can be exploited to extract a simple and intuitive tuning procedure for selecting the gains of one control structure from the gains of the other structure. This result is particularly useful for tuning the near IO linearizing position controller as the interpretation of its gains is obscured by the non-linear state transformation of the feedback linearization. Some numerical simulation and experimental results are included to demonstrate the identified tuning procedure.

关键词： electrohydraulic actuator position control force control cascade control input-output linearization

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Nonsingular Geometric Path Following Control of a Wheeled Mobile Robot

Nonsingular Geometric Path Following Control of a Wheeled Mo...

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22nd Chinese Control and Decision Conference

作者： Qi, Le Ma, Baoli Li, Wei First Aeronaut Engn Inst Chinese Air Force Foreign Training Dept Xinyang 464000 Peoples R China Beijing Univ Aeronaut & Astronaut Res Div 7 Beijing 100083 Peoples R China Commading Commun Acad Dept 6 Wuhan 430015 Peoples R China

ISBN: (纸本)9781424451821

The geometric function of the target path was used to define the tracking error, converting the path following problem under study into a problem of output regulation. An exponential stable tracking control law was therefore derived adopting input-output linearization approach and back-stepping technique. Thanks to the exponentially decaying terms added to the desired geometric path, the singularity problem is avoided by adjusting relevant coefficients. Numerical simulation results show the effectiveness of the control scheme.

关键词： Wheeled mobile robot Geometric path following input-output linearization Nonsingular Back-stepping

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Parameterization of the output with Respect to the Relative Degree

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SICE Journal of Control, Measurement, and System Integration 2010年第2期3卷 137-143页

作者： Kazuma Sekiguchi Mitsuji Sampei Shigeki Nakaura Department of Mechanical and Control Engineering Tokyo Institute of Technology Department of Mechanical Engineering Sasebo National College of Technology

The partial feedback linearization is capable of expressing a complicated nonlinear system as a simple form for control. To get a proper linearized subsystem, it is most important to select a proper coordinate transformation. This paper plays a fundamental role in selecting the proper coordinate by revealing the system structure with respect to a relative degree. The relative degree is a key concept to treat the partial feedback linearization, especially, the input-output linearization of an input affine system. Using special functions of the state characterized in the relative degree, all functions are parameterized and classified according to their relative degrees. Applying the proposed parameterization to a coordinate transformation, the system structure with respect to relative degrees is revealed. Moreover using the input-output linearization with parameterized outputs, it is also shown that the internal dynamics of the partially linearized system is parameterized.

关键词： input-output linearization output parameterization relative degree

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Nonsingular Geometric Path Following Control of a Wheeled Mobile Robot

Nonsingular Geometric Path Following Control of a Wheeled Mo...

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The 22nd China Control and Decision Conference(2010年中国控制与决策会议)

作者： Le Qi Baoli Ma Wei Li Foreign Training Department First Aeronautical Engineering Institute of Chinese Air Force Xinyang The Seventh Research Division Beijing University of Aeronautics and Astronautics Beijing 100083 Department 6 Commanding Communication Academy Wuhan 430015

关键词： Wheeled mobile robot Geometric path following input-output linearization Nonsingular Back-stepping

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Nonsingular Geometric Path Following Control of a Wheeled Mobile Robot

Nonsingular Geometric Path Following Control of a Wheeled Mo...

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2010 Chinese Control and Decision Conference

作者： Le Qi~(1,2),Baoli Ma~2,Wei Li~3 1.Foreign Training Department,First Aeronautical Engineering Institute of Chinese Air Force,Xinyang,464000 2.The Seventh Research Division,Beijing University of Aeronautics and Astronautics,Beijing,100083 3.Department 6,Commanding Communication Academy,Wuhan,430015

The geometric function of the target path was used to define the tracking error,converting the path following problem under study into a problem of output *** exponential stable tracking control law was therefore derived adopting input-output linearization approach and back-stepping *** to the exponentially decaying terms added to the desired geometric path,the singularity problem is avoided by adjusting relevant coefficients. Numerical simulation results show the effectiveness of the control scheme.

关键词： Wheeled mobile robot Geometric path following input-output linearization Nonsingular Back-stepping

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input-output linearization of nonlinear systems using multivariable Legendre polynomials

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AUTOMATICA 2005年第2期41卷 299-304页

作者： Deutscher, J Univ Erlangen Nurnberg Lehrstuhl Regelungstech D-91058 Erlangen Germany

This contribution presents a: new approach for the numeric computation of the input-output linearizing feedback law, which is obtained exactly in an analytical form. By using a state space embedding technique the nonlinear system to be controlled is described by a higher order system with solely polynomial nonlinearities. Consequently, the nonlinearities of this system can be represented by multivariable Legendre polynomials, so that the derivation of the input-output linearizing feedback controller can be accomplished using the operational matrices of multiplication and of differentiation for Legendre polynomials. (C) 2004 Elsevier Ltd. All rights reserved.

关键词： nonlinear control input-output linearization Legendre polynomials polynomial systems state space embedding

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