Pseudolinearization on controlled invariant submanifolds

Author

Lawrence, Douglas A.

Author_Institution

Sch. of Electr. Eng. & Comput. Sci., Ohio Univ., Athens, OH, USA

Volume

4

fYear

2001

fDate

2001

Firstpage

3408

Abstract

We extend the original notion of pseudolinearization on equilibrium submanifolds to general controlled invariant submanifolds for nonlinear systems. This extension is motivated by nonlinear tracking and regulation problems in which the control objective is to stabilize any nominal trajectory in the submanifold. A pseudolinearizing transformation renders linearizations about nominal trajectories in the submanifold trajectory-independent so that local stabilization to the submanifold can be achieved using linear time-invariant control laws. Necessary and sufficient conditions for pseudolinearization via static state feedback and coordinate change are derived which are weaker than those for exact feedback linearization. The study of a class of linear parameter-varying (LPV) systems provides valuable insight into the nonlinear problem

Keywords

linear systems; linearisation techniques; matrix algebra; nonlinear control systems; stability; state feedback; controlled invariant submanifolds; coordinate change; equilibrium submanifolds; linear parameter-varying systems; linear time-invariant control laws; local stabilization; necessary and sufficient conditions; nominal trajectory; nonlinear regulation; nonlinear systems; nonlinear tracking; pseudolinearization; pseudolinearizing transformation; static state feedback; Computer science; Control systems; Gain; Jacobian matrices; Nonlinear equations; Nonlinear systems; Stability; State feedback; Sufficient conditions; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2001. Proceedings of the 40th IEEE Conference on

Conference_Location

Orlando, FL

Print_ISBN

0-7803-7061-9

Type

conf

DOI

10.1109/.2001.980383

Filename

980383