Title :
Nonregular feedback linearization: a nonsmooth approach
Author :
Sun, Zhendong ; Ge, S.S.
Author_Institution :
Seventh Res. Div., Beijing Univ. of Aeronaut. & Astronaut., China
Abstract :
In this note, we address the problem of exact linearization via nonsmooth nonregular feedback. A criterion of nonregular static state feedback linearizability is presented for a class of nonlinear affine systems with two control inputs, and its application to nonholonomic systems is briefly discussed.
Keywords :
nonlinear systems; state feedback; control inputs; exact linearization; nonholonomic systems; nonlinear affine systems; nonsmooth nonregular feedback; Backstepping; Control systems; Linear feedback control systems; Nonlinear control systems; Nonlinear systems; Robots; Robustness; State feedback; Sun; Systems engineering and theory;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2003.817914
