This paper presents a robust adaptive feedback linearizing control law to solve the integrated kinematic and dynamic trajectory tracking problem of nonholonomic mechanical systems in presence of parametric and nonparametric uncertainties. An adaptive nonlinear control law is proposed based on input-output feedback linearization technique to get asymptotically exact cancellation of the parametri...

This paper discusses the problem of using feedback and coordinates transformation in order to transform a given nonlinear system with outputs into a controllable and observable linear one. We discuss separately the effect of change of coordinates and, successively, the effect of both change of coordinates and feedback transformation. One of the main results of the paper is to show what extra co...

For a nonlinear system with a control input, a generalized form of the homological equation can be formulated to reduce the system to its normal form. In this paper, it has been shown that for a linearly controllable system with an appropriate choice of state feedback, the generalized homological equation can be solved to give an explicit solution, of a reduced order, to the problem of second o...

A global linearization of nonlinear input-output descriptions by relaxing the appropriate appearances of inputs, outputs and their derivatives is applied. The resulting time-varying linear systems are described by skew polynomial systems accepting most of the methods of ordinary polynomial systems. The properties like stability and controllability of nonlinear systems can be analyzed using the ...

We present partial-tree linearization, a generalized word ordering (i.e. ordering a set of input words into a grammatical and fluent sentence) task for text-to-text applications. Recent studies of word ordering can be categorized into either abstract word ordering (no input syntax except for POS) or tree linearization (input words are associated with a full unordered syntax tree). Partial-tree ...

The problem of invariant output tracking is considered: given a control system admitting a symmetry group G, design a feedback such that the closed-loop system tracks a desired output reference and is invariant under the action of G. Invariant output errors are defined as a set of scalar invariants of G; they are calculated with the Cartan moving frame method. It is shown that standard tracking...

High-performance motion control applications require precise tracking of rapidly changing speed/position and flux trajectories. In this short paper, we present an energy-shaping controller and an input-output linearization controller for current-fed induction motors. Induction motor can be represented as the negative feedback interconnection of passive electrical and mechanical subsystems [1, 2...

We show that an adaptive input/output feedback linearization control scheme for minimum phase nonlinear systems is robust with respect to unstructured plant uncertainties that include such as unmodeled dynamics and disturbances, provided the adaptive law is modiied in the same fashion as for linear systems, and the plant nonlinearities satisses some growth constraints. In the analysis we utiliz...

Resumo: This paper presents a nonlinear controller for uncertain single-input–single-output nonlinear systems (SISO). The adopted approach is based on the feedback linearization strategy and enhanced by a fuzzy inference algorithm to cope with modeling inaccuracies and external disturbances that can arise. An application of this nonlinear controller to a second-order nonlinear system is also pr...

Abstract: In this paper, the controller introduced represent, at the best knowledge of the authors, the first application of feedback linearization technique to control a Twin Rotor Multi-input Multi-output System (TRMS). With the coupling effects considered as the uncertainties, the highly coupled nonlinear TRMS is decomposed into a horizontal and a vertical subsystem. Then, two control laws a...