DocumentCode
630658
Title
Controlled zero dynamics feedback linearization with application to free-floating redundant orbital manipulator
Author
Barcinski, Tomasz ; Lisowski, Jakub ; Rybus, Tomasz ; Seweryn, Karol
Author_Institution
Fac. of Electr. Eng., West Pomeranian Univ. of Technol., Szczecin, Poland
fYear
2013
fDate
17-19 June 2013
Firstpage
1834
Lastpage
1839
Abstract
The paper presents a method of controlling the zero dynamics in nonlinear MIMO feedback linearized system. The method is based on the input signal projection on the decoupling matrix kernel, which leaves the linearized output invariant while controlling the zero dynamics part of the system. The application of the method to the control of space manipulator is proposed.
Keywords
MIMO systems; aerospace robotics; feedback; linearisation techniques; matrix algebra; nonlinear control systems; redundant manipulators; zero assignment; controlled zero dynamics feedback linearization; decoupling matrix kernel; free-floating redundant orbital manipulator; input signal projection; linearized output invariant; nonlinear MIMO feedback linearized system; space manipulator control; Kernel; MIMO; Manipulator dynamics; Trajectory; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference (ACC), 2013
Conference_Location
Washington, DC
ISSN
0743-1619
Print_ISBN
978-1-4799-0177-7
Type
conf
DOI
10.1109/ACC.2013.6580102
Filename
6580102
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