The classical shimmying wheel is the simplest mechanical model to describe vibration problems in the rolling dynamics of aircraft nose gears, motorcycles , automotive systems and tractor-trailer systems. Such systems can exhibit undesirable unstable rolling motion which can often lead to disastrous results. The classical shimmy model includes a rigid wheel towed by a horizontal caster attached ...

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 ...

Resumo: This paper presents a nonlinear controller for uncertain single-input–single-output nonlinear systems (SISO). The adopted approach is based on the feedback linearization strategy and enhanced by a fuzzy inference algorithm to cope with modeling inaccuracies and external disturbances that can arise. An application of this nonlinear controller to a second-order nonlinear system is also pr...

We present an approach to designing feedback controllers that solve a path following control problem for a large class of mechanical systems. Our approach involves set stabilization via transverse feedback linearization: a coordinate and feedback transformation that yields a normal form convenient for control design making desired path attractive. Our approach also involves refining the normal ...

The paper addresses the problem of controlling the joints of an flexible joint robot with a state feedback controller and proposes a gradual way of extending such a controller towards feedback linearization. The global asymptotic stability for the state feedback controller with gravity compensation is proven. Experimental results on the DLR light-weight robots validate the method.

The paper addresses the problem of dynamic feedback linearization of discrete-time nonlinear control systems. Analogously to the continuous-time case, necessary and sufficient conditions for flatness property are obtained and showed to be equivalent to previously known results on feedback linearizability by endogenous dynamic feedback. An example is added to illustrate the results.

Abstract—This study proposes the transformation of nonlinear Magnetic Levitation System into linear one, via state and feedback transformations using explicit algorithm. This algorithm allows computing explicitly the linearizing state coordinates and feedback for any nonlinear control system, which is feedback linearizable, without solving the Partial Differential Equations. The algorithm is pe...

The problems of modeling and intervention of biological phenomena have captured the interest of many researchers in the past few decades. The aim of the therapeutic intervention strategies is to move an undesirable state of a diseased network towards a more desirable one. Such an objective can be achieved by the application of drugs to act on some genes/metabolites that experience the undesirab...

A new criterion for nonregular static state feedback linearization is presented for a class of affine nonlinear control systems. This criterion is applied to several classes of nonholonomic systems and discontinuous stabilizing control design is outlined based on linear system theory and the backstepping techniques.