Symmetry Reduction, Contact Geometry, and Partial Feedback Linearization

Partial feedback linearization of underactuated mechanical systems

Fuzzy Partial Feedback Linearization for Stable Walking of Biped Robots

ontrol of underactuated biped robots is one of the challenging problems in the robotics field. The main difficulties of this problem that make it hard to control are its highly nonlinear dynamics, open-loop instability and impact event at the end of each step. Partial feedback linearization is a method to control underactuated systems but it is not robust against uncertainties and disturbances....

Feedback linearization and lattice theory

The tools of lattice theory are applied to readdress the static state feedback linearization problem for discrete-time nonlinear control systems. Unlike the earlier results that are based on differential geometry, the new tools are also applicable for nonsmooth systems. In case of analytic systems, close connections are established between the new results and those based on differential one-for...

On Nonregular Feedback Linearization

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 which is nonregular static feedback linearizable but is not regular dynamic feedback linearizable. Then, we present some necessary conditions as well as sufficient conditions for nonregular feedback lin...

Feedback linearization and driftless systems

The problem of dynamic feedback linearization is recast using the notion of dynamic immersion. We investigate here a “generic” property which holds at every point of a dense open subset, but may fail at some points of interest, such as equilibrium points. Linearizable systems are then systems that can be immersed into linear controllable ones. This setting is used to study the linearization of ...