Thanks to a suitable redesign of the maps involved in continuous-time solution, digital design procedure preserving transverse feedback linearization up prefixed order approximation sampling period is described. Simulated examples illustrate results.

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.

The articulated dump truck is a widespread transport vehicle for narrow rough terrain environment. To achieve the autonomous driving in the underground tunnel, this article proposes a path following strategy -for articulated vehicle based on feedback linearization algorithm. First of all, the kinematic model of articulated vehicle, which reflects the relationship between the structure parameter...

Speed squirrel cage motor control is an area of research that has been in evidence for some time now. In this paper, a nonlinear controller presented the drives, based on combination between input-output feedback linearization (IOLC) technique and sliding mode (SMC) to create new which (SIOLC) motors associates by NPC five levels inverter PWM technical used variation its speed, where it control...

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 ...