Generalized solutions to linearized equations of thermoelastic solid and viscous thermofluid.
Global linearization of nonlinear systems - A survey
A survey of the global linearization problem is presented. Known results are divided into two groups: results for general affine nonlinear systems and for bilinear systems. In the latter case stronger results are available. A comparision of various linearizing transformations is performed. Numerous illustrative examples are included.
Improved fuzzy feedback linearization and Sinswat-transformation control of inverted pendulum
Infinitesimal Brunovský form for nonlinear systems with applications to Dynamic Linearization
We define, in an infinite-dimensional differential geometric framework, the 'infinitesimal Brunovský form' which we previously introduced in another framework and link it with equivalence via diffeomorphism to a linear system, which is the same as linearizability by 'endogenous dynamic feedback'.
Linear robust output regulation in a class of switched power converters.
Linearization by completely generalized input-output injection
The problem addressed in this paper is the linearization of nonlinear systems by generalized input-output (I/O) injection. The I/O injection (called completely generalized I/O injection) depends on a finite number of time derivatives of input and output functions. The practical goal is the observer synthesis with linear error dynamics. The method is based on the I/O differential equation structure. Thus, the problem is solved as a realization one. A necessary and sufficient condition is proposed...
Local exact controllability of the diffusion equation in one dimension.
Modelling and control of an omnidirectional mobile manipulator
A new approach to control an omnidirectional mobile manipulator is developed. The robot is considered to be an individual agent aimed at performing robotic tasks described in terms of a displacement and a force interaction with the environment. A reactive architecture and impedance control are used to ensure reliable task execution in response to environment stimuli. The mechanical structure of our holonomic mobile manipulator is built of two joint manipulators mounted on a holonomic vehicle. The...
Neural network based feedback linearization control of a servo-hydraulic vehicle suspension system
This paper presents the design of a neural network based feedback linearization (NNFBL) controller for a two degree-offreedom (DOF), quarter-car, servo-hydraulic vehicle suspension system. The main objective of the direct adaptive NNFBL controller is to improve the system's ride comfort and handling quality. A feedforward, multi-layer perceptron (MLP) neural network (NN) model that is well suited for control by discrete input-output linearization (NNIOL) is developed using input-output data sets...
Nonlinear control of a planar multiaxis servohydraulic test facility using exact linearization techniques
Nonlinear predictive control based on neural multi-models
This paper discusses neural multi-models based on Multi Layer Perceptron (MLP) networks and a computationally efficient nonlinear Model Predictive Control (MPC) algorithm which uses such models. Thanks to the nature of the model it calculates future predictions without using previous predictions. This means that, unlike the classical Nonlinear Auto Regressive with eXternal input (NARX) model, the multi-model is not used recurrently in MPC, and the prediction error is not propagated. In order to...
Observability and observers for nonlinear systems with time delays
Basic properties on linearization by output injection are investigated in this paper. A special structure is sought which is linear up to a suitable output injection and under a suitable change of coordinates. It is shown how an observer may be designed using theory available for linear time delay systems.
On controllability, parametrization, and output tracking of a linearized bioreactor model.
On dynamic feedback linearization of four-dimensional affine control systems with two inputs
On dynamic feedback linearization of four-dimensional affine control systems with two inputs
This paper considers control affine systems in with two inputs, and gives necessary and sufficient conditions for dynamic feedback linearization of these systems with the restriction that the "linearizing outputs" must be some functions of the original state and inputs only. This also gives conditions for non-affine systems in .
Simultaneous Localization And Mapping: A feature-based probabilistic approach
This article provides an introduction to Simultaneous Localization And Mapping (SLAM), with the focus on probabilistic SLAM utilizing a feature-based description of the environment. A probabilistic formulation of the SLAM problem is introduced, and a solution based on the Extended Kalman Filter (EKF-SLAM) is shown. Important issues of convergence, consistency, observability, data association and scaling in EKF-SLAM are discussed from both theoretical and practical points of view. Major extensions...
Stability of the feedback linearization of bilinear plants with bounded inputs
Stochastic linearization of nonlinear point dissipative systems.
Supervisory predictive control and on-line set-point optimization
The subject of this paper is to discuss selected effective known and novel structures for advanced process control and optimization. The role and techniques of model-based predictive control (MPC) in a supervisory (advanced) control layer are first shortly discussed. The emphasis is put on algorithm efficiency for nonlinear processes and on treating uncertainty in process models, with two solutions presented: the structure of nonlinear prediction and successive linearizations for nonlinear control,...
Topological equivalence and topological linearization of controlled dynamical systems