Feedback linearization-based controllers are widely exploited in stabilizing a tilt rotor (eight or twelve inputs); each degree of freedom (six degrees total) is manipulated individually to track the desired trajectory, since no singular decoupling matrix introduced while applying this method. The conventional quadrotor (four inputs), on other hand, an under-actuated MIMO system that can direct...

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 study the problem of feedback complete linearization for a given single input single output stochastic nonlinear system. Using the invariance under transformation rule [1], the coordinate free necessary and su± cient conditions for the solvability of the problem is derived, which is exactly the same as the necessary and su± cient conditions for the solvability of the feedback ...

In this research work, a new method is proposed for linearizing class of nonlinear multivariable system; where the number inputs divides exactly states. The idea consists in representing original system into state-dependent coefficient form and applying block similarity transformations that allow getting linearized companion form. Because system’s eigenstructure can determine performance robust...

In this article, we study feedback linearization problems for nonlinear differential-algebraic control systems (DACSs). We consider two kinds of equivalences, namely, external equivalence, which is defined (locally) on the whole generalized state space, and internal locally maximal controlled invariant submanifold (i.e., set where solutions exist). define a notion called explicitation with driv...