Publication

A quotient method for designing nonlinear controllers

Dominique Bonvin, Philippe Müllhaupt
2011
Conference Papers

Abstract

An algorithmic method is proposed to design stabilizing control laws for a class of nonlinear systems that comprises single-input feedback-linearizable systems and a particular set of single-input non feedback-linearizable systems. The method proceeds iteratively and consists of two stages; it converts the system into cascade form and reduces the dimension at every step by creating quotient manifold in the forward stage, while it constructs the feedback law iteratively in the backward stage. The paper shows that the construction of these quotient manifolds is well defined for feedback-linearizable system and, furthermore, it can also be applied to a class of non feedback-linearizable systems.

Official source

https://infoscience.epfl.ch/entities/publication/2ea3778e-6d81-4e30-bd84-feeae5186850

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Dominique Bonvin, Philippe Müllhaupt
2011
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/2ea3778e-6d81-4e30-bd84-feeae5186850

About this result

Related concepts (22)

Adaptive control

Adaptive control is the control method used by a controller which must adapt to a controlled system with parameters which vary, or are initially uncertain.cite journal|author=Chengyu Cao, Lili Ma, Yunjun Xu|title="Adaptive Control Theory and Applications", Journal of Control Science and Engineering'|volume=2012|issue=1|year=2012|doi=10.1155/2012/827353|pages=1,2|doi-access=free For example, as an aircraft flies, its mass will slowly decrease as a result of fuel consumption; a control law is needed that adapts itself to such changing conditions.

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In mathematics, a manifold is a topological space that locally resembles Euclidean space near each point. More precisely, an -dimensional manifold, or -manifold for short, is a topological space with the property that each point has a neighborhood that is homeomorphic to an open subset of -dimensional Euclidean space. One-dimensional manifolds include lines and circles, but not lemniscates. Two-dimensional manifolds are also called surfaces. Examples include the plane, the sphere, and the torus, and also the Klein bottle and real projective plane.

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