Feedback Linearization with Zero Dynamics Stabilization for Quadrotor Control

2020 ◽  
Vol 101 (1) ◽  
Author(s):  
Luís Martins ◽  
Carlos Cardeira ◽  
Paulo Oliveira
Keyword(s):  
Feedback Linearization ◽  
Zero Dynamics ◽  
Quadrotor Control

Nonlinear system controllability analysis and autopilot design for bank-to-turn aircraft with two flaps

2018 ◽  
Vol 233 (5) ◽  
pp. 1772-1783 ◽  
Author(s):  
Jinlu Dong ◽  
Di Zhou ◽  
Chuntao Shao ◽  
Shikai Wu
Keyword(s):  
Numerical Simulation ◽  
Control System ◽  
Nonlinear System ◽  
Feedback Linearization ◽  
Degrees Of Freedom ◽  
Lyapunov Stability Theory ◽  
Zero Dynamics ◽  
Controlled System ◽  
Linearization Technique ◽  
Six Degrees Of Freedom

In this study, the six-degrees-of-freedom flight motion of a tail-controlled bank-to-turn aircraft with two flaps is described as a nonlinear control system. The controllability of this flap-controlled system is analyzed based on nonlinear controllability theory and the system is proved to be weakly controllable. By choosing the angle-of-attack and roll angle as the outputs of this control system, the zero dynamics of the system are analyzed using Lyapunov stability theory, and are proved to be stable under some conditions given by an inequality. Then an autopilot is designed for this system using the feedback linearization technique. Results of the numerical simulation for this control system show the effectiveness of the controllability analysis and autopilot design.

scholarly journals Evaluation of Linearization Methods for Control of the Pendubot

2021 ◽  
Vol 11 (16) ◽  
pp. 7615
Author(s):  
Paweł Parulski ◽  
Patryk Bartkowiak ◽  
Dariusz Pazderski
Keyword(s):  
Feedback Linearization ◽  
Closed Loop ◽  
Input Saturation ◽  
Zero Dynamics ◽  
Closed Loop System ◽  
New Approach ◽  
Linearization Methods ◽  
Partial Feedback Linearization ◽  
Partial Feedback ◽  
Control Methodology

The aim of this paper is to test the usefulness of a new approach based on partial feedback linearization to control the Pendubot. The control problem stated in the article is to stabilize the Pendubot in the upright position. In particular, properties of the closed-loop system and the zero dynamics are investigated and illustrated by results of simulations. Next, the performance of a hybrid-like controller in the case of input saturation is evaluated by conduction extensive simulation trails. The experimental results suggest that the considered control methodology can be successfully applied for a real system.

New Robust Control Method Applied to the Locomotion of a 5-Link Biped Robot

Robotica ◽  
2020 ◽  
Vol 38 (11) ◽  
pp. 2023-2038
Author(s):  
Mohammad Mehdi Kakaei ◽  
Hassan Salarieh
Keyword(s):  
Robust Control ◽  
Feedback Linearization ◽  
Control Method ◽  
Sliding Mode ◽  
Biped Robot ◽  
Zero Dynamics ◽  
Lyapunov Theorem ◽  
Free Response ◽  
Hybrid Zero Dynamics ◽  
Controller Performance

SUMMARYThis paper proposes a new design of robust control combining feedback linearization, backstepping, and sliding mode control called FLBS applied to the locomotion of five-link biped robot. Due to the underactuated robot’s model, the system has a hybrid nature, while the FLBS control can provide a stabilized walking movement even with the existence of large disturbances and uncertainties by implementing smooth chatter-free signals. Stability of the method is proven using the Lyapunov theorem based on the hybrid zero dynamics and Poincaré map. The simulations show the controller performance such as robustness and chatter-free response in the presence of uncertainty and disturbance.

Design and Quaternion-Based Attitude Control of the Omnicopter MAV Using Feedback Linearization

2012 ◽  
Author(s):  
Yangbo Long ◽  
Sean Lyttle ◽  
Nicholas Pagano ◽  
David J. Cappelleri
Keyword(s):  
Attitude Control ◽  
Feedback Linearization ◽  
Point Of View ◽  
Zero Dynamics ◽  
State Variables ◽  
Micro Aerial Vehicle ◽  
Attitude Stabilization ◽  
Yaw Control ◽  
Aerial Vehicle ◽  
Lagrange Formalism

In this paper, we present the design of the Omnicopter, a micro aerial vehicle (MAV) with two central counter-rotating coaxial propellers for thrust and yaw control and three perimeter-mounted variable angle ducted fans to control roll and pitch. First, a dynamic model of the robot is established using the Euler-Lagrange formalism. Next, we focus on the attitude control for a special operating case of the Omnicopter with fixed vertical positions of the surrounding ducted fans. A nonlinear model is represented in state space using the quaternion and angular velocity as state variables, which simplifies the system dynamics. Based on this model, a feedback linearization controller is developed, which renders the system linear and controllable from an input-output point of view. The zero dynamics problem is also analyzed. Finally, simulations are carried out and the results illustrate that the attitude stabilization task for the Omnicopter is achieved.

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