Title :
Approximate feedback linearization: the cart-pole example
Author :
Bedrossian, Nazareth S.
Author_Institution :
Charles Stark Draper Lab. Inc., Houston, TX, USA
Abstract :
An existing nonlinear design methodology developed by Krener (1984, 1987), approximate feedback linearization, is applied to the control of underactuated single-input-single-output nonlinear systems. A computational approach to test for the order of linearization as well as a method to compute the approximate output function is derived. A method to simplify the dynamics using partial precompensation which uses the constraint equations of motion is presented. This approach is applied to a simple example. Simulation results showed a substantial improvement in the operating range of the linear controller by using this approach
Keywords :
compensation; control system synthesis; feedback; linearisation techniques; nonlinear control systems; robots; SISO nonlinear systems; approximate feedback linearization; approximate output function; cart-pole; constraint equations of motion; dynamics; partial precompensation; robotics; Actuators; Control systems; Control theory; Design methodology; Equations; Linear approximation; Linear feedback control systems; Linear systems; Nonlinear control systems; Nonlinear systems;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.219989