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IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)

作者： Chen, Chaoho Lv, Junfeng Gao, Song Liu, Hailong Xian Technol Univ Autonomous Unmanned Syst Res Lab Xian 710021 Peoples R China Xian Technol Univ Sch Elect Informat Engn Xian 710021 Peoples R China

ISBN: (纸本)9781467383189

A modified control approach combined with input-output linear algorithm and adaptive fuzzy sliding mode algorithm is proposed to adapt the non-linear and time-varying nature of vehicle's lateral control. In order to design the controller, this paper changed the nonlinear control model to a linear form using input-output linear algorithm. And fuzzy sliding mode control method is introduced to the algorithm to increase the robustness of the system. In addition, the control effectiveness has been discussed in the simulation part. Simulation results show: despite external environmental factors and vehicle's own parameters has changed, the system still track the desired path accurately, vehicle's lateral deviation and direction deviation approaching zero rapidly. Compare with the pure sliding mode algorithm, chattering amplitude reduced by 82%similar to 92%.

关键词： input-output linearization Adaptive fuzzy Sliding mode Lateral control Look-ahead control

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output tracking control of inverted cart-pendulum using input-output linearization and predictive contol

Output tracking control of inverted cart-pendulum using inpu...

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14th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)

作者： Charfeddine, Monia Jouili, Khalil Benhadj Braiek, Naceur Polytech Sch Tunisia EPT Lab Adv Syst BP 743 Marsa 2078 Tunisia

ISBN: (纸本)9781479929542

The inverted cart-pendulum provides interesting examples of nonlinear non-minimum phase systems. In this paper, as a matter of fact, a new approach to the output control for the inverted cart-pendulum is introduced. First, the inverted cart pendulum model is approximated by another singular perturbed system: the boundary-layer subsystem and the reduced subsystem. For the boundary-layer subsystem, the input output linearization is used. But the reduced subsystem is stabilized by the predictive control. After all, the simulation results are presented to demonstrate the efficiency of the proposed approach.

关键词： nonlinear non minimum phase system input-output linearization predictive control singular perturbed system

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Design of a flexible manipulator controller based on input-output linearization

Design of a flexible manipulator controller based on input-o...

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IEEE International Conference on Automation and Logistics

作者： Sun, Ying Wu, Runzhi Cheng, Fangxiao Yu, Lan Changchun Univ Technol Dept Elect & Elect Engn Changchun Jilin Province Peoples R China Changchun Inst Technol Dept Energy & Power Changchun Jilin Province Peoples R China

ISBN: (纸本)9781424415304

Basing on input-output linearization strategy, a model of the flexible manipulator can be decomposed into an input-output subsystem and a zero-dynamics subsystem A fuzzy control is used to input-output subsystem. By analyzing the relationship between the eigenvalues of the zero-dynamics subsystem and the designed parameters in the output of the redefined system, the designed parameters are determined, and guarantee the zero-dynamics to be asymptotically stable at equilibrium point, thus guarantee the whole flexible manipulator system to be asymptotically stable.

关键词： flexible manipulator input-output linearization fuzzy control

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Robust fuzzy control for a class of nonlinear nonlinear systems using input-output linearization. Real-time implementation for a robot wrist.

Robust fuzzy control for a class of nonlinear nonlinear syst...

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IEEE International Conference on Control Applications

作者： Boukezzoula, R Galichet, S Foulloy, L Univ Savoie CESALP LAMII Lab Automat & Micro Informat Ind F-74016 Annecy France

ISBN: (纸本)0780367332

In this paper, a fuzzy controller enhanced with a H-infinity control component is proposed to deal with unmodeled uncertainties for a class of continuous nonlinear systems. The uncertainties are due to fuzzy approximation error and external disturbances. First, we represent the nonlinear plant with a Takagi-Sugeno fuzzy system. Then, a fuzzy controller is designed applying the so-called "input-output linearization" concept. However, this controller can not guarantee robustness in the presence of uncertainties. In order to deal with this problem, an additive H-infinity control component is added to the fuzzy controller to attenuate uncertainty influence on control performances. Finally, in order to demonstrate the feasibility of the proposed methodology, a real-time implementation for controlling a robot wrist is presented.

关键词： continuous nonlinear systems fuzzy robust control input-output linearization H-infinity optimization

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Engine-Based input-output linearization for Traction Control Systems 21st

Engine-Based Input-Output Linearization for Traction Control...

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

作者： Reichensdoerfer, Elias Odenthal, Dirk Wollherr, Dirk Tech Univ Munich Chair Automat Control Engn D-80333 Munich Germany BMW Grp D-80788 Munich Germany BMW M GmbH D-85748 Garching Germany

Engine-based traction control marks a paradigm shift for electronic stability systems in the automotive industry. It enables traction control systems with higher bandwidth and performance by an architectural change. As a new approach, only few work exists that considers analytic control design for engine-based traction control. This paper extends our recent work on input-output linearization for engine-based traction control. Global, exponential stability for arbitrary vehicle parameters and time-varying road adhesion coefficients is shown for the first time. Experiments in a test vehicle compare the proposed design with different traction control systems. It is shown that on the considered maneuver, the control design achieves superior tracking performance, disturbance attenutItion and damping of drivetrain oscillations. Copyright (C) 2020 The Authors.

关键词： Traction control system input-output linearization passivity zero dynamics

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input-output linearization and Stabilization Analysis of Internal Dynamics of Buck-Boost Converters

Input-Output Linearization and Stabilization Analysis of Int...

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第三十一届中国控制会议

作者： Dingxin Shuai College of Electrical and Information Engineering,Panzhihua University,Panzhihua 617000,China

Using the state-space average modeling method,a nonlinear affine model of Buck-Boost converter is set *** on the input-output linearization method of differential geometry theory,the internal dynamics of the systems,with output represented by inductor current and capacitor voltage respectively,are been *** is pointed out that the average PWM model of the 'Buck-Boost' converter,with output represented by the average capacitor voltage,is actually a nonminimum phase system,and its internal dynamics is ***,it is unfeasible to control the output voltage ***,if the output is represented by the average inductor current,the system is a minimum phase system,and its internal dynamics is asymptotically *** is feasible to control the output voltage indirect through the regulation of inductor ***,the nonlinear state feedback law is *** control law proposed in this paper has some advantages of being simple,easy to *** validity of the indirect output capacitor voltage control scheme using input-output feedback linearization method is verified by numerical simulation *** waveforms based on simulated extensive work verify the superiority of the proposed nonlinear control method.

关键词： Buck-Boost converter nonlinear input-output linearization internal dynamics stabilization

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Digital Control of a Buck Converter Based on input-output linearization. An Interpretation Using Discrete-Time Sliding Control Theory

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ENERGIES 2019年第14期12卷 2738页

作者： Vidal-Idiarte, Enric Restrepo, Carlos El Aroudi, Abdelali Calvente, Javier Giral, Roberto Univ Rovira & Virgili Escola Tecn Super Engn Dept Engn Elect Elect & Automat E-43007 Tarragona Spain Univ Talca Dept Electromech & Energy Convers Curico 3340000 Chile

This paper presents the analysis and design of a PWM nonlinear digital control of a buck converter based on input-output linearization. The control employs a discrete-time bilinear model of the power converter for continuous conduction mode operation (CCM) to create an internal current control loop wherein the inductor current error with respect to its reference decreases to zero in geometric progression. This internal loop is as a constant frequency discrete-time sliding mode control loop with a parameter that allows adjusting how fast the error is driven to zero. Subsequently, an outer voltage loop designed by linear techniques provides the reference of the inner current loop to regulate the converter output voltage. The two-loop control offers a fast transient response and a high regulation degree of the output voltage in front of reference changes and disturbances in the input voltage and output load. The experimental results are in good agreement with both theoretical predictions and PSIM simulations.

关键词： two-loop digital control buck converter input-output linearization PWM sliding mode

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A Novel input-output linearization Minimum Sliding Mode Error Feedback Control for Synchronization of FitzHugh-Nagumo Neurons

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JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS 2016年第4期11卷 041011-041011页

作者： Cao, Lu Chen, Xiaoqian China Xian Satellite Control Ctr State Key Lab Astronaut Dynam ADL Xian 710043 Peoples R China Natl Univ Def Technol Coll Aerosp Sci & Engn Changsha 410073 Hunan Peoples R China

A novel input-output linearization minimum sliding mode error feedback control (I/OMS-MEFC) is proposed for the synchronization between two uncoupled FitzHugh-Nagumo (FHN) neurons with different ionic currents and external electrical stimulations. To estimate and offset the system uncertainties and external disturbances, the concept of equivalent control error is introduced, which is the key to utilization of I/OMSMEFC. A cost function is formulated on the basis of the principle of minimum sliding mode covariance constraint;then the equivalent control error is estimated and fed back. It is shown that the proposed I/OMSMEFC can compensate various kinds of system uncertainties and external disturbances. Meanwhile, it can reduce the steady-state error more than the conventional sliding mode control (SMC). In addition, the sliding mode after the I/OMS-MEFC will tend to be the ideal SMC, resulting in improved control performance and quantity. Sufficient conditions are given based on the Lyapunov stability theorem and numerical simulations are performed to verify the effectiveness of presented I/OMSMEFC for the chaotic synchronization accurately.

关键词： synchronization minimum sliding mode error feed back control input-output linearization FitzHugh-Nagumo (FHN) neuron different external electrical stimulations

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APPROXIMATE input-output linearization OF NONMINIMUM PHASE NONLINEAR SYSTEMS WITH LINEAR UNFORCED DYNAMICS

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IFAC Proceedings Volumes 2002年第1期35卷 91-96页

作者： Joachim Deutscher Lehrstuhl für Regelungstechnik Universität Erlangen-Nürnberg Cauerstraße 7 D-91058 Erlangen Germany fax: 49-9131-8528715

This paper presents an approximate input-output linearization approach for nonminimum phase nonlinear systems with linear unforced dynamics. A special Byrnes Isidori normal form is introduced, where the internal dynamics are not affected by the inputs up to second order such that the corresponding transformation can be obtained by solving linear equations. After a factorization of the internal dynamics into a stable and into an antistable part a quadratic linear and internally stable input-output behaviour is achieved by state feedback in explicit form.

关键词： input-output linearization nonminimum phase systems nonlinear control approximate linearization

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On the input-output linearization of nonlinear systems *

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IFAC Proceedings Volumes 1998年第18期31卷 745-750页

作者： E. Delaleau M. Fliess P.S. Pereira da Silva Laboratoire des signaux et systèmes CNRS - Supélec Plateau de Moulon F-91192 Gif-sur- Yvette France Dep. Eng. Eletrônica - Escola Politécnica - Universidade de São Paulo Av. Prof. Luciano Gualberto travessa 3 no. 158 Cidade Universitária Sao Paulo - SP Cep 05508-900 Brazil

This paper exposes two different possible definitions of input-output linearization of nonlinear systems and gives the corresponding necessary and sufficient conditions for their solvability. Cet article présente deux définitions de linéarisation entrée-sortie pour les systèmes non linéaires et donne les conditions nécessaires et suffisantes de résolution des problèmes de synthèse correspondants.

关键词： Differential algebra input-output linearization Nonlinear control systems

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