FEEDBACK-CONTROL OF MULTIINPUT NONLINEAR-SYSTEMS BY EXTENDED LINEARIZATION

被引：19

作者：

BAUMANN, WT

机构：

[1] Virginia Polytechnic Inst &, State Univ, Blacksburg, VA, USA, Virginia Polytechnic Inst & State Univ, Blacksburg, VA, USA

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1988年 / 33卷 / 02期

关键词：

CONTROL SYSTEMS; LINEAR - CONTROL SYSTEMS; MULTIVARIABLE - CONTROL SYSTEMS; STOCHASTIC; -; ROBOTS; INDUSTRIAL; Manipulators;

D O I：

10.1109/9.389

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Control of a nonlinear system is addressed by considering its family of linearizations. Given that a family of linear state-feedback controllers has been designed to meet some (linear) control objective, it is shown how these controllers can be pieced together into an overall, nonlinear, state-feedback controller. The resulting closed-loop system has the property that its linearizations are equal to the desired linearly controlled systems. A similar approach can be used to design nonlinear state estimators. The approach is illustrated by applying it to the control of a planar two-link manipulator.

引用

页码：193 / 197

页数：5