Nonlinear Control and Planning in Robotics Lecture 8 : Feedback Linearization March 12 , 2018
نویسنده
چکیده
u = a(x) + b(x)v, (3) where b(x) is a nonsingular matrix, and v ∈ Rp is a transformed or virtual input, so that the inputoutput response between v and y is linear. This requirement is called input-output linearization because only the input-output map h is made linear. On the other hand, full state linearization refers to the case when the whole state x must be “linearized”. Linearization of the form (3) is called static feedback. In some cases one could accomplish the linearization only with the help of extra variables which evolve dynamically. This is the case of dynamic feedback which takes the form
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Nonlinear Control and Planning in Robotics Lecture 8 : Feedback Linearization
u = a(x) + b(x)v, (3) where b(x) is a nonsingular matrix, and v ∈ Rp is a transformed or virtual input, so that the inputoutput response between v and y is linear. This requirement is called input-output linearization because only the input-output map h is made linear. On the other hand, full state linearization refers to the case when the whole state x must be “linearized”. Linearization of th...
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