The Experts below are selected from a list of 23067 Experts worldwide ranked by ideXlab platform
Dorothée Normand-cyrot - One of the best experts on this subject based on the ideXlab platform.
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Approximate transverse Feedback Linearization under digital control
IEEE Control Systems Letters, 2020Co-Authors: Mohamed Elobaid, Salvatore Monaco, Dorothée Normand-cyrotAbstract:Thanks to a suitable redesign of the maps involved in the continuous-time solution, a digital design procedure preserving transverse Feedback Linearization up to a prefixed order of approximation in the sampling period is described. Simulated examples illustrate the results.
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On the problem of Feedback Linearization
Systems & Control Letters, 1999Co-Authors: Claudia Califano, Salvatore Monaco, Dorothée Normand-cyrotAbstract:The paper studies and solves in a geometric framework the problem of partial Feedback Linearization for discrete-time dynamics. An algorithm for computing the largest linearizable subsystem is proposed. This approach can be considered as dual to the one already proposed in literature in an algebraic context.
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A sampled normal form for Feedback Linearization
Mathematics of Control Signals and Systems, 1996Co-Authors: J.p. Barbot, Salvatore Monaco, Dorothée Normand-cyrotAbstract:This paper discusses the problem of preserving approximated Feedback Linearization under digital control. Starting from a partially Feedback linearizable affine continuous-time dynamics, a digital control procedure which maintains the dimension of the maximally Feedback linearizable part up to any order of approximation with respect to the sampling period is proposed. The result is based on the introduction of a sampled normal form, a canonical structure which naturally appears when studying Feedback Linearization.
Zhendong Sun - One of the best experts on this subject based on the ideXlab platform.
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CRITERION FOR NONREGULAR Feedback Linearization WITH APPLICATION
IFAC Proceedings Volumes, 2002Co-Authors: Zhendong Sun, T.h. LeeAbstract:Abstract A new criterion for nonregular static state Feedback Linearization is presented for a class of affine nonlinear control systems. This criterion is applied to several classes of nonholonomic systems and discontinuous stabilizing control design is outlined based on linear system theory and the backstepping techniques.
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On nonregular Feedback Linearization
Automatica, 1997Co-Authors: Zhendong Sun, Xiaohua XiaAbstract:Abstract This paper investigates the use of nonregular (not necessarily regular) static/dynamic state Feedbacks to achieve Feedback Linearization of affine nonlinear systems. First, we provide an example that is nonregular static Feedback linearizable but is not regular dynamic Feedback linearizable. Then we present some preliminary necessary conditions as well as sufficient conditions for nonregular Feedback Linearization. The sufficient conditions are checkable, and if they are verified, a linearizing Feedback could be calculated following a recursive procedure, provided that the integrations of a set of completely integrable systems are available. © 1997 Elsevier Science Ltd.
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Stabilization of nonholonomic chained systems via nonregular Feedback Linearization
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187), 1Co-Authors: Zhendong Sun, T.w. Huo, T.h. LeeAbstract:This paper addresses the problem of Feedback stabilization of nonholonomic chained systems within the framework of nonregular Feedback Linearization. Firstly, the nonsmooth version of nonregular Feedback Linearization is formulated, and a criterion for nonregular Feedback Linearization is provided. Then, it is proved that a chained form is linearizable via nonregular Feedback control, thus enable us to design Feedback control laws using standard techniques for linear systems. The obtained discontinuous control laws guarantee convergence of the closed-loop system with exponential rates. Finally, simulation results are presented to show the effectiveness of the approach.
Christopher Nielsen - One of the best experts on this subject based on the ideXlab platform.
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dual conditions for local transverse Feedback Linearization
Conference on Decision and Control, 2018Co-Authors: Rollen S Dsouza, Christopher NielsenAbstract:Given a control-affine system and a controlled invariant submanifold, the local transverse Feedback Linearization problem is to determine whether or not the system is locally Feedback equivalent to a system whose dynamics transversal to the submanifold are linear and controllable. In this paper we present necessary and sufficient conditions for a single-input system to be locally transversally Feedback linearizable to a given submanifold that dualize, in an algebraic sense, previously published conditions. These dual conditions are of interest in their own right and represent a first step towards a Gardner-Shadwick like algorithm for local transverse Feedback Linearization.
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path following using dynamic transverse Feedback Linearization for car like robots
IEEE Transactions on Robotics, 2015Co-Authors: Adeel Akhtar, Christopher Nielsen, Steven L WaslanderAbstract:This paper presents an approach for designing path-following controllers for the kinematic model of car-like mobile robots using transverse Feedback Linearization with dynamic extension. This approach is applicable to a large class of paths and its effectiveness is experimentally demonstrated on a Chameleon R100 Ackermann steering robot. Transverse Feedback Linearization makes the desired path attractive and invariant, while the dynamic extension allows the closed-loop system to achieve the desired motion along the path.
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Transverse Feedback Linearization of Multi-Input Systems
Proceedings of the 44th IEEE Conference on Decision and Control, 1Co-Authors: Christopher Nielsen, Manfredi MaggioreAbstract:In this note the problem of Feedback linearizing dynamics transverse to controlled invariant manifolds is considered for multi-input control affine systems. Transverse controllability indices are introduced which adapt the familiar notion of controllability indices to assist solving this particular problem. Sufficient conditions for transverse Feedback Linearization are presented.
Manfredi Maggiore - One of the best experts on this subject based on the ideXlab platform.
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Transverse Feedback Linearization of Multi-Input Systems
Proceedings of the 44th IEEE Conference on Decision and Control, 1Co-Authors: Christopher Nielsen, Manfredi MaggioreAbstract:In this note the problem of Feedback linearizing dynamics transverse to controlled invariant manifolds is considered for multi-input control affine systems. Transverse controllability indices are introduced which adapt the familiar notion of controllability indices to assist solving this particular problem. Sufficient conditions for transverse Feedback Linearization are presented.
T.h. Lee - One of the best experts on this subject based on the ideXlab platform.
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CRITERION FOR NONREGULAR Feedback Linearization WITH APPLICATION
IFAC Proceedings Volumes, 2002Co-Authors: Zhendong Sun, T.h. LeeAbstract:Abstract A new criterion for nonregular static state Feedback Linearization is presented for a class of affine nonlinear control systems. This criterion is applied to several classes of nonholonomic systems and discontinuous stabilizing control design is outlined based on linear system theory and the backstepping techniques.
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Stabilization of nonholonomic chained systems via nonregular Feedback Linearization
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187), 1Co-Authors: Zhendong Sun, T.w. Huo, T.h. LeeAbstract:This paper addresses the problem of Feedback stabilization of nonholonomic chained systems within the framework of nonregular Feedback Linearization. Firstly, the nonsmooth version of nonregular Feedback Linearization is formulated, and a criterion for nonregular Feedback Linearization is provided. Then, it is proved that a chained form is linearizable via nonregular Feedback control, thus enable us to design Feedback control laws using standard techniques for linear systems. The obtained discontinuous control laws guarantee convergence of the closed-loop system with exponential rates. Finally, simulation results are presented to show the effectiveness of the approach.
