Title :
Cascaded feedback linearization and its application to stabilization of nonholonomic systems
Author :
Qu, Zhihua ; Wang, Jing ; Martin, Jeffrey
Author_Institution :
Dept. of Electr. & Comput. Eng., Central Florida Univ., Orlando, FL
Abstract :
In this paper, a new cascaded feedback linearization problem is formulated and a set of conditions on the cascaded feedback linearizability are established for a class of two-input affine nonlinear systems. The proposed cascaded feedback linearization method enlarges the classes of nonlinear systems which can be tackled by using the standard feedback linearization techniques. As an illustrative application, the proposed cascade feedback linearization concept is employed to solve the feedback stabilization problem of nonholonomic systems within the framework of smooth feedback control. Simulation results have verified the proposed method
Keywords :
cascade control; feedback; linearisation techniques; nonlinear control systems; cascaded feedback linearization; nonholonomic system stabilization; smooth feedback control; two-input affine nonlinear systems; Control nonlinearities; Control systems; Feedback control; Linear feedback control systems; Linearization techniques; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; State feedback; Sufficient conditions;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1655455