Abstract
This paper develops a systematic methodology for the control of a class of feedback linearizable systems. The class of systems to be dealt with are those that are SISO and can be put in Strict Feedback Form. Additionally, it is assumed that the relative degree of these systems is greater than one and the zero dynamics are stable. For a system with relative degree, r, a series of r system errors are defined. An input-output feedback stabilization method is then used to control each error through the use of synthetic inputs. Subsequently, the entire closed loop system is analyzed for stability. A class of modeling error is introduced and compensated for. The resulting control is able to guarantee specified boundary layer tracking. Finally, a comparison is made in simulation with the Integrator Backstepping approach.
| Original language | English (US) |
|---|---|
| Pages | 379-384 |
| Number of pages | 6 |
| State | Published - Dec 1 1995 |
| Event | Proceedings of the 1995 ASME International Mechanical Engineering Congress and Exposition - San Francisco, CA, USA Duration: Nov 12 1995 → Nov 17 1995 |
Other
| Other | Proceedings of the 1995 ASME International Mechanical Engineering Congress and Exposition |
|---|---|
| City | San Francisco, CA, USA |
| Period | 11/12/95 → 11/17/95 |
ASJC Scopus subject areas
- Software
- Mechanical Engineering