A wheeled mobile robot is subject to both holonomic and nonholonomic constraints. Representing the motion and constraint equations in the state space, this paper studies the feedback linearization of the dynamic system of a wheeled mobile robot. The main results of the paper are: (1) It is shown that the system is not input-state linearizable. (2) If the coordinates of a point on the wheel axis...

and Applied Analysis 3 A α , A β are matrices that will be updated adaptively with the following updating laws: ?̇? α (t) = −Q −1 ⋅ z ⋅ ξ T α ⋅ es, ?̇? β (t) = −Q −1 ⋅ z ⋅ ξ T β ⋅ es ⋅ u (t) (12) and finally the control law is described as follows: u (t) = 1 β (t) + β (x) (− [α (t) + ?̂? (x)] + v (t)) . (13) 2.2. Direct Adaptive Fuzzy Controller (DAFC). Control law u(t) in feedback linearization m...

This paper presents the control of non-regular or singular nonlinear systems applying non-linear predictive controllers. The systems treated here have the relative degree not well defined thus feedback linearization is not applicable due to singularities in the input-output linearizing control law. An alternative controller capable of dealing with non-regular systems is the NCGPC (Nonlinear Con...

In the rotor reference frame, the input-output linearization theory was adopted to decouple the rotor position and rotor flux. We then designed two adaptation laws to estimate the rotor resistance and mechanical parameters of the motor. The passive properties of the negative feedback connection from the rotor flux observer to the rotor resistance estimator, and the position controller were anal...

A hydraulic generator regulating system with electrical, mechanical, and constitution is a complex nonlinear system, which analyzed in this research. In the present study, dynamical behavior of investigated. Afterward, input/output feedback linearization theory exerted to derive controllable model system. Then, chaotic controlled using robust controller that uses Chebyshev neural network as dis...

In this paper we develop an intelligent controller on the basis of Genetic Algorithms for the stabilization of a class of Underactuated Mechanical Systems. First we develop a static State Feedback Controller with inner noncollocated partial feedback linearization loop to stabilize the nominal system. Second, we develop a Genetic algorithm controller to maintain system stabilization and to adapt...

Abstract: The Rotary Inverted Pendulum (RIP) system is a significant classical problem of control engineering which has been investigated in the past decades. This study presents an optimum InputOutput Feedback Linearization (IOFL) cascade controller utilized Genetic Algorithm (GA). Due to the non-minimum phase behavior of the system, IOFL controller leads to unstable internal dynamics. Therefo...

The core factors governing the performance of active vehicle suspension systems (AVSS) are the inherent trade-offs involving suspension travel, ride comfort, road holding and power consumption. In addition to this, robustness to parameter variations is an essential issue that affects the effectiveness of highly nonlinear electrohydraulic AVSS. Therefore, this paper proposes a nonlinear control ...

This paper deals with the design of a control strategy that combines a nonlinear observer and a partial feedback linearization controller to stabilize the periodic orbits of an under-actuated three link biped robot. We show first that passive dynamics (non-actuated coordinates) can be linearized and decoupled from the rest of the system by applying a nonlinear feedback. Then, the proposed obser...

A controller is presented for point stabilization of the extended chained form system. The extended chained form system can not be stabilized by means of continuous pure-state feedback. Moreover, it can not be exponentially stabilized by smooth feedback, since the linearization around equilibrium points is uncontrollable. In this paper, a controller is given that ρ-exponentially stabilizes the ...