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
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;
Conference_Titel :
American Control Conference (ACC), 2013
Conference_Location :
Washington, DC
Print_ISBN :
978-1-4799-0177-7
DOI :
10.1109/ACC.2013.6580102
