Feedback linearization of control for nonlinear systems with uncertainties
Chung-Cheng Chen, Yi-Chieh Huang, Wen-Jiun Lin, Der-Ching Shen, Li-An Huang (2007)
Control and Cybernetics
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Chung-Cheng Chen, Yi-Chieh Huang, Wen-Jiun Lin, Der-Ching Shen, Li-An Huang (2007)
Control and Cybernetics
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Moisés Bonilla Estrada, Michel Malabre, J. A. Cheang W. (1995)
Kybernetika
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Luis E. Ramos-Velasco, Javier Ruiz, Sergej Čelikovský (2002)
Kybernetika
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The nonlinear control techniques are applied to the model of rotary inverted pendulum. The model has two degrees of freedom and is not exactly linearizable. The goal is to control output trajectory of the rotary inverted pendulum asymptotically along a desired reference. Moreover, the designed controller should be robust with respect to specified perturbations and parameters uncertainties. A combination of techniques based on nonlinear normal forms, output regulation and sliding mode...
Domenico Prattichizzo, Paolo Mercorelli (2000)
Kybernetika
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The geometric control properties of vehicles with active suspensions are analyzed. A special attention is devoted to the problem of disturbance decoupling. Active suspensions of advanced vehicles allow the active rejection of external disturbances exerted on the sprung mass of the vehicle and caused by road surface irregularity. We focus on the road irregularity disturbances with the purpose of isolating the chassis from vibrations transmitted through suspensions. The paper is aimed...
Celia Villanueva-Novelo, Sergej Čelikovský, Bernardino Castillo-Toledo (2001)
Kybernetika
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The problem of output regulation of the systems affected by unknown constant parameters is considered here. The main goal is to find a unique feedback compensator (independent on the actual values of unknown parameters) that drives a given error (control criterion) asymptotically to zero for all values of parameters from a certain neighbourhood of their nominal value. Such a task is usually referred to as the structurally stable output regulation problem. Under certain assumptions, such...