Change of controller based on partial feedback linearization with time-varying function

Abstract

This paper considers the problem to transfer the state from one zero dynamics submanifold to another one in finite time, for a time-invariant nonlinear system. The usage of time-varying zero dynamics submanifold is proposed to accomplish the transfer. The feature of this paper is facus on keeping the state on zero dynamics submanifold during the transfer. Main contribution is to develop the condition for doing this for the case that the two zero dynamcis submanifolds have the same dimension. The validity of the controller that is designed to satisfy the condition is demonstrated via a numerical simulation of mono-rotor unmanned aerial vehicle (UAV) system.

Invariance control with time-varying constraints

“…, η (ri) (t)). The I/O-linearization is only valid, if the relative degree r i is well-defined, which is assured if the following assumptions hold [10].…”

Invariance Control for Safe Human–Robot Interaction in Dynamic Environments

“…Corrective control is determined by the constrained minimization problem (36). The constraint, which has to be fulfilled by the control torque c, is given by (35). As a result from (12), the left side of the inequation is the pseudo input of the active constraints, generated by the control torque.…”

“…The relation between the input c and the so-called pseudo input of the integrator chain is determined by c (12) with the relative degree , and the Lie operator including the dynamic parameters (13) Time-varying I/O-linearization yields a well-defined relative degree of , if holds [35].…”