CONTROL OF UNDERACTUATED ACROBOT SYSTEM USING PARTIAL FEEDBACK LINEARIZATION

Partial feedback linearization of underactuated mechanical systems

Control of Underactuated Biped Robots Using Event Based Fuzzy Partial Feedback Linearization

Underactuated biped robots control is one of the interesting topics in robotics. The main difficulties are its highly nonlinear dynamics, open-loop instability, and discrete event at the end of the gait. One of the methods to control underactuated systems is the partial feedback linearization, but it is not robust against uncertainties and disturbances that restrict its performance to control b...

Velocity tracking of cruise control system by using feedback linearization method

In cruise control systems, the performance of the controller is important. Hence, in order to have accurate results, the nonlinear behavior of a vehicle model should also be considered. In this article, a vehicle with a nonlinear model is controlled by using a nonlinear method. The nonlinear term of the model is the generated torque of engine, which is a polynomial equation. In addition, feedba...

non-linear control distillation column using approximate feedback linearization

Motion Planning and Trajectory Control of an Underactuated Three-Link Robot via Dynamic Feedback Linearization

We present a new method for motion planning and feedback control of three-link planar robot arms with a passive rotational third joint. These underactuated mechanical systems are shown to be fully linearizable and input-output decoupable by means of a nonlinear dynamic feedback, provided a physical singularity is avoided. The linearizing output is the position of the so-called center of percuss...