In this paper,fully actuated system approaches are utilized to synthesize feedback linearizable nonlinear systems.First,a simple transformation is introduced to convert feedback linearizable nonlinear systems into ful...In this paper,fully actuated system approaches are utilized to synthesize feedback linearizable nonlinear systems.First,a simple transformation is introduced to convert feedback linearizable nonlinear systems into fully actuated system models for both single-input and multi-input scenarios.Once the fully actuated system model is established,a nonlinear state feedback controller can be derived to achieve a constant linear closed-loop system with an assignable eigenstructure.All degrees of freedom present in the closed-loop system can be leveraged to enhance overall system performance.In comparison to feedback linearization,the proposed method places greater emphasis on the control variables,making it more convenient to address control challenges in dynamic systems.Finally,two numerical examples are presented to illustrate the design procedure for both single-input and multi-input cases,and to validate the effectiveness of the proposed approach.展开更多
This paper utilizes the high-order fully actuated(HOFA)system approach to synthesize a class of nonlinear systems.First,the original nonlinear system can be rewritten in a quasi-linear form,which is more general than ...This paper utilizes the high-order fully actuated(HOFA)system approach to synthesize a class of nonlinear systems.First,the original nonlinear system can be rewritten in a quasi-linear form,which is more general than other nonlinear systems,such as strict-feedback systems.Based on a rank condition,the quasi-linear system can be transformed into a canonical form.Second,a simple transformation is adopted to convert the above canonical form into the HOFA model.Once an HOFA model is derived,the authors design a controller to make the closed-loop system a constant linear system with the desired eigenstructure.Finally,a numerical example illustrates the fitness and effectiveness of the proposed approach.展开更多
基金supported by the Science Center Program of the National Natural Science Foundation of China under Grant No.62188101。
文摘In this paper,fully actuated system approaches are utilized to synthesize feedback linearizable nonlinear systems.First,a simple transformation is introduced to convert feedback linearizable nonlinear systems into fully actuated system models for both single-input and multi-input scenarios.Once the fully actuated system model is established,a nonlinear state feedback controller can be derived to achieve a constant linear closed-loop system with an assignable eigenstructure.All degrees of freedom present in the closed-loop system can be leveraged to enhance overall system performance.In comparison to feedback linearization,the proposed method places greater emphasis on the control variables,making it more convenient to address control challenges in dynamic systems.Finally,two numerical examples are presented to illustrate the design procedure for both single-input and multi-input cases,and to validate the effectiveness of the proposed approach.
基金This research was supported by the Major Program of National Natural Science Foundation of China under Grant Nos.61690210 and 61690212the National Natural Science Foundation of China under Grant No.61333003also by the Science Center Program of the National Natural Science Foundation of China under Grant No.62188101.
文摘This paper utilizes the high-order fully actuated(HOFA)system approach to synthesize a class of nonlinear systems.First,the original nonlinear system can be rewritten in a quasi-linear form,which is more general than other nonlinear systems,such as strict-feedback systems.Based on a rank condition,the quasi-linear system can be transformed into a canonical form.Second,a simple transformation is adopted to convert the above canonical form into the HOFA model.Once an HOFA model is derived,the authors design a controller to make the closed-loop system a constant linear system with the desired eigenstructure.Finally,a numerical example illustrates the fitness and effectiveness of the proposed approach.
