Systematic approach to the control of a class of feedback linearizable systems

Andrew Alleyne

Research output: Contribution to conference › Paper

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 languageEnglish (US)
Pages379-384
Number of pages6
StatePublished - Dec 1 1995
EventProceedings of the 1995 ASME International Mechanical Engineering Congress and Exposition - San Francisco, CA, USA
Duration: Nov 12 1995 → Nov 17 1995

Other

OtherProceedings of the 1995 ASME International Mechanical Engineering Congress and Exposition
CitySan Francisco, CA, USA
Period11/12/95 → 11/17/95

ASJC Scopus subject areas

  • Software
  • Mechanical Engineering

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    Alleyne, A. (1995). Systematic approach to the control of a class of feedback linearizable systems. 379-384. Paper presented at Proceedings of the 1995 ASME International Mechanical Engineering Congress and Exposition, San Francisco, CA, USA, .