This paper presents a theoretical framework for 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 theory and the inver...

In this paper, we extend some recent results on the stabilization of output feedback linearizable non-linear systems. We show that these systems not only cab be stabilized with a much simpler controller than previously thought, but they can also be rendered passive using the same output feedback controller. Finally, we extend these results to the problem of simultaneous stabilization of a famil...

The local structure of CMAC neural networks (NN) result in better and faster controllers for nonlinear dynamical systems. A CMAC neural network-based discrete-time controller which linearizes the unknown multiinput and multioutput (MIMO) nonlinear system through feedback is presented. Control action is defined in order to achieve tracking performance for this unknown nonlinear system. An effici...

Using the differential-geometric control theory, we present in this note a necessary and sufficient condition under which an affine system is locally feedback equivalent to, via a change of coordinates and restricted smooth state feedback, a generalized normal form called —normal form, which includes Brunovsky canonical form and feedback linearizable systems in a lower-triangular form as its sp...

Most of available results in adaptive learning controllers (ALCs) with input learning technique have considered the single-input single-output nonlinear systems. This paper presents an ALC for MIMO uncertain feedback linearizable systems whose uncertainty is in their linear parameters. Since only an output signal is available for measurement, a high gain observer is used to estimate the unmeasu...

This paper addresses the problem of feedback stabilization of nonholonomic chained systems within the framework of nonregular feedback linearization. Firstly, the nonsmooth version of nonregular feedback linearization is formulated, and a criterion for nonregular feedback linearization is provided. Then, it is proved that a chained form is linearizable via nonregular feedback control, thus enab...

Differential systems with a Fuchsian linear part are studied in regions including all the singularities in the complex plane of these equations. Such systems are not necessarily analytically equivalent to their linear part (they are not linearizable) and obstructions are found as a unique nonlinear correction after which the system becomes formally linearizable. More generally, normal forms are...

We consider strongly monotone games with convex separable coupling constraints, played by dynamical agents, in a partial-decision information scenario. start designing continuous-time fully distributed feedback controllers, based on consensus and primal-dual gradient dynamics, to seek generalized Nash equilibrium networks of single-integrator agents. Our first solution adopts fixed gain, whose ...

Non-overshooting stabilization is a form of safe control where the setpoint chosen by user at boundary set. In this paper we develop homogeneous feedback laws for fixed-time nonovershooting nonlinear systems that are input-output linearizable with full relative degree, i.e., diffeomorphically equivalent to chain integrators. These can also assume secondary role ‘fixed-time safety filters’ (FxTS...