We present a method for trajectory planning and control of planar robots with a passive rotational last joint. These underactuated mechanical systems, which are subject to nonholonomic second-order constraints, are shown to be fully linearized and input-output decoupled by means of a nonlinear dynamic feedback. This objective is achieved in a unified framework, both in the presence or absence o...

We consider the application of a recently developed “conditional integrator” technique for the output regulation of a class of nonlinear systems to process control systems. For a special choice of the controller parameters, our controller reduces to a finely tuned saturated PI/PID type controller with an anti-windup structure. This is of particular significance because while the application of ...

Studies have shown that feedback linearization can provide an effective controller for many types of nonlinear systems. It is known, however, that these controllers are not robust, in particular to model uncertainties as the feedback linearization process involves canceling of nonlinearities in the dynamics using an exact model which is seldom available. Although there are several strategies to...

This paper presents the technical aspects, theoretical analysis, and comparisons of two new permanent magnet synchronous generator (PMSG) grid-interfaced models named PMSG boost and PMSG rectifierinverter. The exact feedback linearization (EFL) control scheme is used for the effective design and stability analysis of the aforementioned models. The complexity of the EFL control laws is discussed...

We consider some theoretical aspects of the control problem for rigid link robots having some joints rigid and some with non-negligible elasticity. We start from the reduced model of robots with all joints elastic introduced by Spong, which is linearizable by static feedback. For the mixed rigid/elastic joint case, we give structural necessary and sufficient conditions for input—output decoupli...

By relying on the input–output feedback linearization approach, a novel adaptive controller for flexible joint robots is proposed in this work. First, model-based developed to get structure that useful development of controller. The version by using two techniques. To stabilize output function, an neural network used, which approximates non-linear function contains uncertainties. desired rotor ...

Feedback linearization is one of the major academic approaches for controlling exible joint robots. This contribution investigates the discrete-time implementation of the feedback linearization approach for a realistic threeaxis robot model. A simulation study of high speed tracking with model uncertainty is performed. It is assumed that full state measurements of the linearizing states are ava...

This paper investigates the decentralized output-tracking problem for a class of high-order stochastic nonlinear systems (SNSs). Compared with existing results, we consider more practical and general systems, i.e., system is large-scale linearization parts may have unstable modes. An output-feedback tracking controller designed based on high-gain homogeneous domination technique. By using advan...

closed kinematic chains and 1 2 ) as a force constrainad mechanical system working on the samo object simultaneously. based on a feedback linearization and simultaneous output docoupling technique. Applying a nonli ear faodback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system....

closed kinematic chains and 1 2 ) as a force constrainad mechanical system working on the samo object simultaneously. based on a feedback linearization and simultaneous output docoupling technique. Applying a nonli ear faodback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system....