Inertially Actuated Jumping Robots (IAJR) provide a promising new means of locomotion. The difficulty IAJR is found in the hybrid nature ground contact/flying dynamics. Recent research studies our Systems Lab have provided family tree inertially actuated locomotion systems. proposed Tapping Robot most prompt member this tree. In paper, feedback linearization controller introduced to controllabi...

I watched it for some minutes, somewhat in fear, but more in wonder.. .. it seemed massy and heavy, tapering from the edge into a solid and broad structure above. It was appended to a weighty rod of brass, and the whole hissed as it swung through the air. Abstract In this paper we consider the nonlinear control of the Gyroscopic Pendulum, a novel mechanical system consisting of a physical pendu...

The tools of lattice theory are applied to readdress the static state feedback linearization problem for discrete-time nonlinear control systems. Unlike the earlier results that are based on differential geometry, the new tools are also applicable for nonsmooth systems. In case of analytic systems, close connections are established between the new results and those based on differential one-for...

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 ...

This paper presents the design of feedback linearization and neural network based feedback linearization (NARMAL2) controller for a magnetic levitation system. The magnetic levitation system is one of the classical nonlinear systems. The paper provides simulation results to validate the theoretical design.

The inverse of a non-minimum-phase system being unstable, standard input-output feedback linearization is not effective to control such systems. In this chapter is a presentation of a new tracking control method for the nonlinear non-minimum-phase system. Indeed, the main idea here is to dismiss a part of system dynamics in order to make the approximate system input-state feedback linearizable....

-There has been a great deal of excitement recently over the development of a theory for explicitly linearizing the input-output response of a nonlinear system using state feedback. One shortcoming of this theory is the inability to deal with non-minimum phase nonlinear systems. Highly maneuverable jet aircraft, such as the V/STOL Harrier, belong to an important class of a slightly non-minimum ...