This paper proposes several nonlinear control strategies for trajectory trackingof a quadcopter system based on the property of differential flatness. Its origi-nality is twofold. Firstly, it provides a flat output for the quadcopter dynamicscapable of creating full flat parametrization of the states and inputs. Moreover,B-splines characterizations of the flat output and the...

For a class of nonlinear systems we investigate the problem of under what conditions there exists a coordinate transformation that yields a state affine linear system up to output injection with implicit outputs. In particular, we provide necessary and sufficient conditions for time-varying linearization up to multi-output injection. We highlight that if the conditions hold, as a consequence, i...

This work focuses on linear finite-dimensional output feedback control of the Kuramoto–Sivashinsky equation (KSE) with periodic boundary conditions. Under the assumption that the linearization of the KSE around the zero solution is controllable and observable, linear finite-dimensional output feedback controllers are synthesized that achieve stabilization of the zero solution, for any value of ...

In this paper, we study the regulation problem for the ball and beam system. Since the system does not have well deened relative degree, exact input-output lin-earization method may fail. The approximate lineariza-tion approach can only be used in a limited region. By representing the system as a fuzzy dynamic model, we give a global control law which is the weighted average of two local stabil...

in this paper, a novel approach for control of the dc-dc buck converter in high-power and low-voltage applications is proposed. designed method is developed according to state feedback linearization based controller , which is able to stabilize output voltage in a wide range of operation. it is clear that in high-power applications, parasitic elements of the converter may become comparable with...

In this paper, adaptive tracking control is considered for a class of general nonlinear systems using multilayer neural networks (MNNs). Firstly, the existence of an ideal implicit feedback linearization control (IFLC) is established based on implicit function theory. Then, MNNs are introduced to reconstruct this ideal IFLC to approximately realize feedback linearization. The proposed adaptive ...

In a wind power generator using doubly fed induction generator (DFIG), the three-phase pulse width modulation (PWM) voltage source converter (VSC) is used as grid side converter (GSC) and rotor side converter (RSC). The standard linear control laws proposed for GSC provides not only instablity against comparatively large-signal disturbances, but also the problem of stability due to uncertainty ...

Mechatronics is the art of directing the advances of a variety of academic and engineering areas to solve the smart machine problems. Author Supervisor Summary Title Language Keywords Document type Date www.md.kth.se This thesis treats block-oriented modelling, approximate linearization and control of a nonlinear pneumatic actuator system. The definition of the block-oriented nonlinear model is...