Adaptive Attitude Controller Design for a Rigid Satellite with Feedback Linearization Approach

2020 ◽  
Vol 67 (4) ◽  
pp. 1445-1469
Author(s):  
Akram Adnane ◽  
Abdellatif Bellar ◽  
Mohammed Arezki Si Mohammed ◽  
Jiang Hong ◽  
Zoubir Ahmed Foitih
Keyword(s):  
Feedback Linearization ◽  
Controller Design ◽  
Attitude Controller ◽  
Feedback Linearization Approach

scholarly journals Tracking Controller Design for Diving Behavior of an Unmanned Underwater Vehicle

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Yi-Hsiang Tseng ◽  
Chung-Cheng Chen ◽  
Chung-Huo Lin ◽  
Yuh-Shyan Hwang
Keyword(s):  
Feedback Linearization ◽  
Controller Design ◽  
Underwater Vehicle ◽  
Diving Behavior ◽  
Practical Applications ◽  
Unmanned Underwater Vehicle ◽  
Almost Disturbance Decoupling ◽  
Disturbance Decoupling ◽  
Feedback Linearization Approach ◽  
Tracking Trajectory

The study has investigated the almost disturbance decoupling problem of nonlinear uncertain control systems via the fuzzy feedback linearization approach. The significant dedication of this paper is to organize a control algorithm such that the closed-loop system is active for given initial condition and bounded tracking trajectory with the input-to-state stability and almost disturbance decoupling performance. This study presents a feedback linearization controller for diving control of an unmanned underwater vehicle. Unmanned underwater vehicle proposes difficult control subject due to its nonlinear dynamics, uncertain models, and the existence of disturbances that are difficult to measure. In general, while investigating the diving dynamics of an unmanned underwater vehicle, the pitch angle is always assumed to be small. This assumption is a strong restricting constraint in many interesting practical applications and will be relaxed in this study.

A Robust Control Design Approach Combining Exact Linearization and High-Gain PI-Observer

2007 ◽  
Author(s):  
Yan Liu ◽  
Dirk So¨ffker
Keyword(s):  
Feedback Linearization ◽  
Control Method ◽  
High Gain ◽  
Observer Design ◽  
Input State ◽  
Exact Linearization ◽  
Practical Applications ◽  
Robust Control Design ◽  
Nonlinear Control Method ◽  
Feedback Linearization Approach

This paper introduces a robust nonlinear control method combining classical feedback linearization and a high-gain PI-Observer (Proportional-Integral Observer) approach that can be applied to control a nonlinear single-input system with uncertainties or unknown effects. It is known that the lack of robustness of the feedback linearization approach limits its practical applications. The presented approach improves the robustness properties and extends the application area of the feedback linearization control. The approach is developed analytically and fully illustrated. An example which uses input-state linearization and PI-Observer design is given to illustrate the idea and to demonstrate the advantages.

Dynamic modeling and design of controller for the 2-DoF serial chain actuated by a cable-driven robot based on feedback linearization

2021 ◽  
pp. 095440622110279
Author(s):  
Vahid Bahrami ◽  
Ahmad Kalhor ◽  
Mehdi Tale Masouleh
Keyword(s):  
Dynamic Modeling ◽  
Pid Controller ◽  
Feedback Linearization ◽  
Tracking Error ◽  
Pid Controllers ◽  
Serial Chain ◽  
Simulation Results ◽  
The Stability ◽  
Feedback Linearization Approach ◽  
Bounded Disturbance

This study intends to investigate a dynamic modeling and design of controller for a planar serial chain, performing 2-DoF, in interaction with a cable-driven robot. The under study system can be used as a rehabilitation setup which is helpful for those with arm disability. The latter goal can be achieved by applying the positive tensions of the cable-driven robot which are designed based on feedback linearization approach. To this end, the system dynamics formulation is developed using Lagrange approach and then the so-called Wrench-Closure Workspace (WCW) analysis is performed. Moreover, in the feedback linearization approach, the PD and PID controllers are used as auxiliary controllers input and the stability of the system is guaranteed as a whole. From the simulation results it follows that, in the presence of bounded disturbance based on Roots Mean Square Error (RMSE) criteria, the PID controller has better performance and tracking error of the 2-DoF robot joints are improved 15.29% and 24.32%, respectively.

A Feedback Linearization-Based Motion Controller for a UWMR with Experimental Evaluations

Robotica ◽  
2019 ◽  
Vol 37 (6) ◽  
pp. 1073-1089 ◽  
Author(s):  
Luis Montoya-Villegas ◽  
Javier Moreno-Valenzuela ◽  
Ricardo Pérez-Alcocer
Keyword(s):  
Feedback Linearization ◽  
Vision System ◽  
Experimental Tests ◽  
Experimental Result ◽  
The Novel ◽  
Tracking Accuracy ◽  
Motion Controller ◽  
Wheeled Mobile Robots ◽  
Feedback Linearization Approach ◽  
Error State

SummaryIn this paper, the feedback linearization approach is used to introduce a motion controller for unicycle-type wheeled mobile robots (UWMRs). The output function is defined as a linear combination of the error state. The novel scheme is firstly tested in numerical simulation and compared with its corresponding experimental result. Three controllers are taken from the literature and compared to the proposed approach by means of experiments. The gains of the experimentally tested controllers are selected to obtain identical energy consumption. The Optitrack commercial vision system and Pioneer P3-DX UWMR are used in real-time experimental tests. In addition, two sets of experimental results for different motion tasks are provided. The results show that the proposed controller presents the best tracking accuracy.

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