Automatic differentiation and nonlinear controller design by exact linearization

被引：7
|
作者：
Röbenack, K [1 ]
机构：
[1] Tech Univ Dresden, Inst Regelungs & Steuerungstheorie, D-01062 Dresden, Germany
来源：
FUTURE GENERATION COMPUTER SYSTEMS-THE INTERNATIONAL JOURNAL OF ESCIENCE | 2005年 / 21卷 / 08期
关键词：
nonlinear control; feedback linearization; Taylor series;
D O I：
10.1016/j.future.2004.11.004
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
Various modern algorithms for controller design are based on differential-geometric concepts. A method of particular importance is called exact linearization via feedback. In this case, the implementation of the controller requires the computation of Lie derivatives, which have been computed symbolically. This can be very time consuming. We present a new computation method relying on automatic differentiation. (c) 2004 Elsevier B.V. All rights reserved.
引用
收藏
页码：1372 / 1379
页数：8
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