書誌事項
- タイトル別名
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- Transition of Partial Feedback Linearization Based Controller
- ブブン センケイカ ニ モトズク セイギョキ ノ キリカエ セッケイ
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This paper considers a problem to transfer a trajectory from one zero dynamics submanifold to another one in finite time, for a time-invariant nonlinear system. In general, it is preferred to keep a trajectory on a zero dynamics submanifold when partial feedback linearization is applied to. Hence, this paper proposes a method to keep a trajectory on zero dynamics submanifold during the transfer by using time-varying zero dynamics submanifold. Main contribution is to develop the condition for time-varying linearizing coordinate to connect two zero dynamics submanifolds with the same dimension. The validity of the controller based on the proposed method is verified via numerical simulations of mono-rotor unmanned aerial vehicle (UAV) system and Acrobot system. <br>
収録刊行物
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- システム制御情報学会論文誌
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システム制御情報学会論文誌 26 (7), 232-242, 2013
一般社団法人 システム制御情報学会
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詳細情報 詳細情報について
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- CRID
- 1390282680141672448
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- NII論文ID
- 130003388016
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- NII書誌ID
- AN1013280X
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- ISSN
- 2185811X
- 13425668
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- NDL書誌ID
- 024672440
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- NDL
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- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可