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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Hsu, Ping |
| Copyright Year | 1990 |
| Description | Author affiliation: Department of Mechanical and Industrial Engineering, University of Illinois, Urbana-Champaign, Urbana, Illinois 61801 (Hsu, Ping) |
| Abstract | In this paper, we study the exact linearization and control of a MIMO nonlinear system which consists of chains of integrators. In such a system, if the number of outputs is greater than number of chains and control inputs, the linearized system will have less number of states than that of the original system. In this case, a subsystem (called zero dynamics) is created by the state feedback. As shown in the paper, this zero dynamics affects the I/O system in an implicit way. We propose a scheme that linearizes the I/O system and, at the same time, controls the zero dynamics to follow a gradient flow so that a desirable condition on the overall system can be reached. Applications of this theory include the control of redundant manipulator and multiple-joint space robot. |
| Starting Page | 1192 |
| Ending Page | 1197 |
| File Size | 443673 |
| Page Count | 6 |
| File Format | |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1990-05-23 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | American Automatic Control Council(AACC) |
| Subject Keyword | Manipulator dynamics Control systems MIMO State feedback Mechanical systems Nonlinear dynamical systems Input variables Tellurium Peak to average power ratio Linear systems |
| Content Type | Text |
| Resource Type | Article |
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