A Unified Approach to Input-output Linearization and Concurrent Control of Underactuated Open-chain Multi-body Systems with Holonomic and Nonholonomic Constraints

2015 ◽  
Vol 22 (1) ◽  
pp. 129-168 ◽  
Author(s):  
Robin Chhabra ◽  
M. Reza Emami
Keyword(s):  
Nonholonomic Constraints ◽  
Input Output ◽  
Unified Approach ◽  
Open Chain ◽  
Concurrent Control ◽  
Holonomic And Nonholonomic Constraints ◽  
Multi Body ◽  
Input Output Linearization

Selective Generalized Coordinates Partitioning Method for Multibody Systems With Non-Holonomic Constraints

2017 ◽  
Author(s):  
Ayman A. Nada ◽  
Abdullateef H. Bashiri
Keyword(s):  
Multibody Systems ◽  
Large Scale ◽  
Research Work ◽  
Nonholonomic Constraints ◽  
Integration Step ◽  
Large Scale Systems ◽  
Holonomic Constraints ◽  
Generalized Coordinates ◽  
Holonomic And Nonholonomic Constraints ◽  
Multi Body

The goal of this research work is to extend the method of generalized coordinates partitioning to include both holonomic and nonholonomic constraints. Furthermore, the paper proposes a method for selective coordinates for integration instead of identifying a set of independent coordinates at each integration step. The effectiveness of the proposed method is presented and compared with full-coordinates integration as well as generalized co-ordinates partitioning method. The proposed method can treat large-scale systems as one of the main advantages of multi-body systems.

Two-degree-of-freedom Controller Design for Uncertain Processes Using Input/output Linearization Control Technique

2011 ◽  
Vol 11 (1) ◽  
pp. 16 ◽  
Author(s):  
Pisit Sukkarnkha ◽  
Chanin Panjapornpon
Keyword(s):  
Disturbance Rejection ◽  
Control Structure ◽  
Control Method ◽  
Random Noise ◽  
Degree Of Freedom ◽  
Control Technique ◽  
Input Output ◽  
Tracking Controller ◽  
Two Degree Of Freedom ◽  
Input Output Linearization

In this work, a new control method for uncertain processes is developed based on two-degree-of-freedom control structure. The setpoint tracking controller designed by input/output linearization technique is used to regulate the disturbance-free output and the disturbance rejection controller designed is designed by high-gain technique. The advantage of two-degree-of-freedom control structure is that setpoint tracking and load disturbance rejection controllers can be designed separately. Open-loop observer is applied to provide disturbance-free response for setpoint tracking controller. The process/disturbance-free model mismatches are fed to the disturbance rejection controller for reducing effect of disturbance. To evaluate the control performance, the proposed control method is applied through the example of a continuous stirred tank reactor with unmeasured input disturbances and random noise kinetic parametric uncertainties. The simulation results show that both types of disturbances can be effectively compensated by the proposed control method.

Control of a biomass-furnace based on input-output-linearization

2015 ◽  
Author(s):  
Christoph Schorghuber ◽  
Markus Reichhartinger ◽  
Martin Horn ◽  
Markus Golles ◽  
Richard Seeber
Keyword(s):  
Input Output ◽  
Input Output Linearization
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