This paper concerns the problem of output consensus in nonlinear non-minimum phase systems. The main contribution of the paper is to guarantee achieving consensus in the presence of unstable zero dynamics. To achieve this goal, an output redefinition method is proposed. The new outputs of agents are functions of original outputs and internal states and defined such that the dynamics of agents a...

ABSTRACT: This paper concerns the problem of output consensus in nonlinear non-minimum phase systems. The main contribution of the paper is to guarantee achieving consensus in the presence of unstable zero dynamics. To achieve this goal, an output redefinition method is proposed. The new outputs of agents are functions of original outputs and internal states and defined such that the dynamics o...

In this article, the issue of attitude control and active vibration suppression of a nonlinear flexible spacecraft is assessed through piezoelectric patches as actuator and sensors. Two controller loops are applied: the inner loop, to make the panel vibration damped through piezoelectric patches; and the outer loop, to perform spacecraft maneuver using the reaction wheel acting on the hub. An o...

Perfect output tracking, which requires inversion of the input–output dynamics, is not always a practical control objective. Difficulties are encountered for systems with zeros which are unstable, or stable but lightly damped. When the zeros are unacceptable in the above sense, perfect output tracking would require the control to be either unbounded, or bounded but highly oscillatory. In this p...

This paper proposes an approximate output tracking control for a class of PWM switched dc-dc converters driving LED lighting systems. The proposed model provides a discrete-time response of the one-cycle average (OCA) value of output signal of the system. Typically, the proposed model has unstable zero dynamics, as well as a nonlinear dependence on the duty ratio control input. Using scheduled ...

We consider a recent proposal [1] to redefine the kilogram in terms of natural constants. In our opinion, the main objective of the redefinition should be to build such a version of the SI system in which the electric measurements are possible with the highest accuracy in SI units, and not in practical units as now. We emphasize that this objective can be achieved only with a simultaneous redef...

A new causal dynamic end-effector inversion method for a single flexible link manipulator is introduced. Contrary to the available non-causal inversion technique, this method does not lead to pre-actuation and works even in the presence of the purely imaginary zeros for the transfer function. Based on this approach, the desired end-effector trajectory is divided into a finite number of segments...

The force control of a constrained one-link flexible arm is considered based on a linear distributed parameter model. To overcome the inherent limitations caused by the non-minimum phase nature of the noncollocation of the joint torque input and the tip contact force output, a passive transfer function is obtained by using the methods of feedback and output redefinition. A passivity-based PD co...