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Title
Japanese:部分線形化に基づく制御器の切り替え設計 
English:Transition of Partial Feedback Linearization Based Controller 
Author
Japanese: 関口和真, 三平満司.  
English: Kazuma Sekiguchi, MITSUJI SAMPEI.  
Language Japanese 
Journal/Book name
Japanese:システム制御情報学会論文誌 
English: 
Volume, Number, Page Vol. 26    No. 7    pp. 8-18
Published date July 2013 
Publisher
Japanese: 
English: 
Conference name
Japanese: 
English: 
Conference site
Japanese: 
English: 
DOI https://doi.org/10.5687/iscie.26.232
Abstract This paper considers a problem to transfer a trajectory from one zero dynamics submanifold to another one in finite time, for a time-invariant nonlinear system. In general, it is preferred to keep a trajectory on a zero dynamics submanifold when partial feedback linearazation is applied to. Hence, this paper proposes a method to keep a trajectory on zero dynamics submanifold during the transfer by using time-varying zero dynamics submanifold. Main contribution is to develop the condition for time-varying linearizing coordinate to connect two zero dynamics submanifolds with the same dimension. The validity of the controller based on the proposed method is verified via numerical simulations of mono-rotor unmanned aerial vehicle(UAV)system and Acrobot system.

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