An Algorithm for Local Transverse Feedback Linearization
From MaRDI portal
Abstract: Given a multi-input, nonlinear, time-invariant, control-affine system and a controlled invariant, closed, embedded submanifold , the local transverse feedback linearization (TFL) problem seeks a coordinate and feedback transformation such that, in transformed coordinates, the dynamics governing the system's transverse evolution with respect to are linear, time-invariant and controllable. The transformed system is said to be in the TFL normal form. Checkable necessary and sufficient conditions for this problem to be solvable are known, but, unfortunately, the literature does not present a prescription that constructs the required transformation for multi-input systems. In this article we present an algorithm that produces a virtual output of suitable vector relative degree that, using input-output feedback linearization, puts the system into TFL normal form. The procedure is based on dual conditions for TFL and is fundamentally different from existing methods, such as the GS and Blended algorithms, because of the "desired" zero dynamics manifold . The proposed algorithm is the first to take into consideration the desired zero dynamics manifold.
Recommendations
- On Local Transverse Feedback Linearization
- An exterior differential characterization of single-input local transverse feedback linearization
- Feedback linearization of transverse dynamics for periodic orbits
- Quotient submanifolds for static feedback linearization
- Local nested transverse feedback linearization
Cites work
- $(A,\mathcal{B})$-Invariant Distributions and Disturbance Decoupling of Nonlinear Systems
- A linear algebraic framework for dynamic feedback linearization
- An algorithm for feedback linearization
- An exterior differential characterization of single-input local transverse feedback linearization
- Feedback linearization of transverse dynamics for periodic orbits
- scientific article; zbMATH DE number 2129143 (Why is no real title available?)
- scientific article; zbMATH DE number 3865082 (Why is no real title available?)
- scientific article; zbMATH DE number 3229872 (Why is no real title available?)
- Invariants for feedback equivalence and Cauchy characteristic multifoliations of nonlinear control systems
- Nonlinear control systems.
- Nonlinear feedback control and systems of partial differential equations
- Nonlinear systems. Analysis, stability, and control
- On an implicit triangular decomposition of nonlinear control systems that are 1-flat -- a constructive approach
- On Local Transverse Feedback Linearization
- On the largest feedback linearizable subsystem
- Path following for the PVTOL aircraft
- Path following using transverse feedback linearization: Application to a maglev positioning system
- Quotient submanifolds for static feedback linearization
- The GS algorithm for exact linearization to Brunovsky normal form
- The theory of equivalence of Pfaffian systems and input systems under feedback
Cited in
(5)- An exterior differential characterization of single-input local transverse feedback linearization
- On Local Transverse Feedback Linearization
- Dynamic feedback linearization of control systems with symmetry
- Feedback linearization of transverse dynamics for periodic orbits
- Local nested transverse feedback linearization
This page was built for publication: An Algorithm for Local Transverse Feedback Linearization
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q6098452)
