Zusammenfassung Der Beitrag beschreibt eine exakte E/ALinearisierung für die translatorische Dynamik eines Quadrocopters. Die hierfür relevante Lageinformation reduziert sich auf die Ausrichtung des Schubvektors (bzw. der körperfesten zAchse), welche mit zwei Freiheitsgraden beschrieben werden kann. Hierzu wird im vorliegenden Beitrag ein spezielles Schubachsenquaternion eingeführt. Die E/A-Lin...

The paper presents an approach to the statistical linearization of the input/output mapping of a non-linear discrete-time stochastic system driven by a whitenoise Gaussian process. The approach is based on applying the maximal correlation function. At that, the statistical linearization criterion is the condition of coincidence of the mathematical expectations of the output processes of the sys...

By rapid development of semiconductor and commands strategies as vector control (VC), direct torque control (DTC) and input-output linearization (IOL) a permanent magnet synchronous motors (PMSM) have gained variety industrial applications. This paper combines the application of neuro-genetic (NG) with input-output linearization techniques to control the PMSM. The use of a genetic algorithm is ...

The problem of tracking control of nonlinear systems whose the zero dynamics are unstable is addressed in this paper. It is shown that, using a novel cascade structure where the backstepping approach is given to stabilise the internal dynamics and the standard input output linearization to stabilise the external dynamics. Assuming high-gain feedback for the external dynamics, a stability analys...

The nonlinearity and coupling of the missile dynamics can be linearized and decoupled by well known feedback linearization techniques. The fundamental problem of feedback linearization technique is not able to cater the model uncertainty. In accordance to this, a new robust nonlinear controller structure using feedback linearization technique is presented here. It linearizes the nonlinear dynam...

In this paper, we study the tracking control problem for a nonlinear system in which the zero dynamics may be unstable. The objective here is to approximate the nonlinear system by another singularly perturbed system by using a small singular perturbation parameter  . The proposed approach is based on the methodology of exact input output linearization control, the integrator backstepping appr...

A wheeled mobile robot is subject to both holonomic and nonholonomic constraints. Representing the motion and constraint equations in the state space, this paper studies the feedback linearization of the dynamic system of a wheeled mobile robot. The main results of the paper are: (1) It is shown that the system is not input-state linearizable. (2) If the coordinates of a point on the wheel axis...

This paper presents a nonlinear control strategy utilizing the linearization and input-output decoupling approach for a nonlinear dynamic model of proton exchange membrane fuel cells (PEMFCs). The multiple-input single-output (MISO) nonlinear model of the PEMFC is derived first. The dynamic model is then transformed into a multiple-input multiple-output (MIMO) square system by adding additional...

In this paper, based on feedback linearization control method and using a special PI (propotational integrator) regulator (IP) in combination with a feed-forward controller, a three-phase induction servo-drive is speed controlled. First, an observer is employed to estimate the rotor d and q axis flux components. Then, two input-output state variables are introduced to control the dynamics of to...

This paper concerns a study on the optimal control for nonlinear systems. An appropriate alternative in order to alleviate the nonlinearity of a system is the exact linearization approach. In this fashion, the nonlinear system has been linearized using input-output feedback linearization (IOFL). Then, by utilizing the well developed optimal control theory of linear systems, the compensated ...