Title :
A technique applicable to redundantly actuated, feedback linearizable systems
Author_Institution :
Appl. Res. Lab., Pennsylvania State Univ., State College, PA, USA
Abstract :
A class of systems that require special consideration when feedback linearization is applied is identified. The systems are characterized by redundancy in the actuation system. A linearizing transformation will decouple the subsystems corresponding to the redundant actuators from the system which it is of interest to control. Depending on the physical situation, linear control laws derived in this way may not yield reasonable results. A simple, alternative method for resolving the redundancy issue in these systems is described
Keywords :
feedback; linearisation techniques; nonlinear control systems; redundancy; linear control laws; nonlinear control systems; redundantly actuated feedback linearisable systems; Control systems; Educational institutions; Hydraulic actuators; Laboratories; Linear systems; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Robot kinematics; State feedback;
Conference_Titel :
Decision and Control, 1989., Proceedings of the 28th IEEE Conference on
Conference_Location :
Tampa, FL
DOI :
10.1109/CDC.1989.70291
