Energy Shaping and Partial Feedback Linearization of Mechanical Systems with Kinematic Constraints

Partial feedback linearization of underactuated mechanical systems

Kinematic and Geometric Constraints, Servomechanisms and Control of Mechanical Systems

Kinematic and geometric constraints, servomechanisms and control of mechanical systems En hommage amical au Professeur Tulczyjew, dont les travaux sont une source constante d'inspiration.

Feedback linearization and driftless systems

The problem of dynamic feedback linearization is recast using the notion of dynamic immersion. We investigate here a “generic” property which holds at every point of a dense open subset, but may fail at some points of interest, such as equilibrium points. Linearizable systems are then systems that can be immersed into linear controllable ones. This setting is used to study the linearization of ...

Maximum feedback linearization with internal stability of 2-DOF underactuated mechanical systems

Energy-Shaping and Input-Output Linearization Controllers for Induction Motors

High-performance motion control applications require precise tracking of rapidly changing speed/position and flux trajectories. In this short paper, we present an energy-shaping controller and an input-output linearization controller for current-fed induction motors. Induction motor can be represented as the negative feedback interconnection of passive electrical and mechanical subsystems [1, 2...