Restriction of Transverse Feedback Linearization for Piecewise Linear Paths
نویسندگان
چکیده
منابع مشابه
Feedback Linearization of Piecewise Linear Systems
One of the classical problems of nonlinear systems and control theory is feedback linearization. Its obvious motivation is that one can utilize linear control theory if the nonlinear system at hand is linearizable by feedback. This problem is well-understood for the smooth nonlinear systems. In the present paper, we investigate feedback linearizability of a class of piecewise linear, and hence ...
متن کاملFeedback linearization of piecewise linear systems
One of the classical problems of nonlinear systems and control theory is feedback linearization. Its obvious motivation is that one can utilize linear control theory if the nonlinear system at hand is linearizable by feedback. This problem is well-understood for the smooth nonlinear systems. In the present paper, we investigate feedback linearizability of a class of piecewise linear, and hence ...
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Given a control-affine system and a controlled invariant submanifold, we present necessary and sufficient conditions for local feedback equivalence to a system whose dynamics transversal to the submanifold are linear and controllable. A key ingredient used in the analysis is the new notion of transverse controllability indices of a control system with respect to a set.
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The pointwise traversal of a given path is a popular task in the area of robotics, e.g. in mobile, industrial or surgical robotics. The easiest method to describe paths is by a sequence of linear segments, and for many tasks the precision of a path approximated by linear segments is sufficient. The movements to be accomplished by a mobile robot or the robot’s end-effector are described by a seq...
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ژورنال
عنوان ژورنال: Mathematical Problems in Engineering
سال: 2021
ISSN: 1563-5147,1024-123X
DOI: 10.1155/2021/8270793