In this paper, we give normal forms for flat two-input control-affine systems in dimension five that admit a output depending on the state only (we call with property x-flat systems). We discuss relations of x-flatness static and dynamic feedback linearization show if system is it becomes linearizable via at most three prolongations suitably chosen control. Therefore can be, general, brought in...

This paper studies global adaptive control of nonlinearly parameterized systems with uncontrollable linearization. Using a new parameter separation technique and the tool of adding a power integrator, we develop a feedback domination design approach for the explicit construction of a smooth adaptive controller that solves the problem of global state regulation. In contrast to the existing resul...

This paper presents a theoretical framework for nonregular feedback linearization and stabilization of second-order nonholonomic chained systems. By giving a new criterion for the problem of nonsmooth nonregular feedback linearization, it is proved that second-order chained systems are nonregular static state feedback linearizable. A discontinuous control law is obtained based on linear system ...

One of the main open problems in the area of adaptive control of linear-in-the-parameters feedback linearizable systems is the computation of the feedback control law when the identification model becomes uncontrollable. In this paper, the authors propose a switching adaptive control strategy that overcomes this problem. The proposed strategy is applied to nth-order feedback linearizable system...

Autonomous vehicles with nonlinear dynamics need to have a planned reference trajectory and a feedback controller to accomplish the task of traveling from a launch point to a goal point. Traditionally the planning stage has either been done from a purely geometrical point of view without regarding the dynamic constraints of the system, or by time-consuming numerical optimization including the d...

It is shown that two continuous-time control systems are dynamically feedback equivalent if and only if their Euler’s discretizations are h-dynamically feedback equivalent for every discretization step h. In particular, a continuous-time system is dynamically feedback linearizable if and only if its Euler’s discretization is h-dynamically feedback linearizable for every h > 0. The proofs of the...

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 ...

In this article, continuous and discontinuous integral controllers for multiple-input multiple-output (MIMO) systems are designed a large class of nonlinear systems, which (partially) feedback linearizable. These arbitrary positive or negative degree homogeneity derived by combining Lyapunov function obtained from the implicit (ILF) method with some extra explicit terms. Discontinuous able to s...