Approximate feedback linearization for nonlinear systems and its application to the ACROBOT

被引：0

作者：

Yamada, K ^{[1
]}

Yuzawa, A ^{[1
]}

机构：

[1] Gunma Univ, Kiryu, Gumma 3768515, Japan

来源：

PROCEEDINGS OF THE 2002 AMERICAN CONTROL CONFERENCE, VOLS 1-6 | 2002年 / 1-6卷

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we consider a design method of approximate feedback linearization for nonlinear systems to which the exact linearization method is not applicable. We adopt a two-step procedure to solve the approximate linearization. First, a state transformation matrix is settled, so that the nonlinear system is transformed approximately into the controllable canonical form. Second, a standard nonlinear linearization method is used to transform the controllable canonical form into a stable linear system. Finally, the application of the proposed method to the ACROBOT, which is known as a system to which the exact linearization method cannot be applied, is shown to illustrate the effectiveness of the proposed method.

引用

页码：1672 / 1677

页数：6