Moradi, Rouzbeh, Alikhani, Alireza, Fathi Jegarkandi, Mohsen. (1395). Time-Invariant State Feedback Control Laws for a Special Form of Underactuated Nonlinear Systems Using Linear State Bisection. نشریه مهندسی عمران امیرکبیر, 48(2), 111-122. doi: 10.22060/miscj.2016.836
Rouzbeh Moradi; Alireza Alikhani; Mohsen Fathi Jegarkandi. "Time-Invariant State Feedback Control Laws for a Special Form of Underactuated Nonlinear Systems Using Linear State Bisection". نشریه مهندسی عمران امیرکبیر, 48, 2, 1395, 111-122. doi: 10.22060/miscj.2016.836
Moradi, Rouzbeh, Alikhani, Alireza, Fathi Jegarkandi, Mohsen. (1395). 'Time-Invariant State Feedback Control Laws for a Special Form of Underactuated Nonlinear Systems Using Linear State Bisection', نشریه مهندسی عمران امیرکبیر, 48(2), pp. 111-122. doi: 10.22060/miscj.2016.836
Moradi, Rouzbeh, Alikhani, Alireza, Fathi Jegarkandi, Mohsen. Time-Invariant State Feedback Control Laws for a Special Form of Underactuated Nonlinear Systems Using Linear State Bisection. نشریه مهندسی عمران امیرکبیر, 1395; 48(2): 111-122. doi: 10.22060/miscj.2016.836

Time-Invariant State Feedback Control Laws for a Special Form of Underactuated Nonlinear Systems Using Linear State Bisection

AUT Journal of Modeling and Simulation
مقاله 12، دوره 48، شماره 2، 2016، صفحه 111-122    اصل مقاله (1.28 M)
نوع مقاله: Research Article
شناسه دیجیتال (DOI): 10.22060/miscj.2016.836
نویسندگان
Rouzbeh Moradi1؛ Alireza Alikhani* 2؛ Mohsen Fathi Jegarkandi3
1Ph.D. Student, Aerospace Research Institute, Ministry of Science, Research and Technology
2Assistant Professor, Aerospace Research Institute, Ministry of Science, Research and Technology
3Assistant Professor, Aerospace Department, Sharif University of Technology
چکیده
Linear state bisection is introduced as a new method to find time-invariant state feedback control laws for a special form of underactuated nonlinear systems. The specialty of the systems considered is that every unactuated state should be coupled with at least two directly actuated states. The basic idea is based on bisecting actuated states and using linear combinations with adjustable parameters to stabilize the unactuated states. These linear combinations make the underactuated system virtually fullyactuated, making it suitable to be stabilized with well-known nonlinear control methods, like feedback linearization. In addition to its simplicity, one of the main contributions of this method is that it can be applied to systems with more than one unactuated state. Three underactuated systems are considered: an asymmetric rigid body, a planar rigid body with an unactuated internal degree of freedom and a system with two degrees of underactuation. It is shown through simulations that the proposed control laws can be effectively used to stabilize the special form of underactuated systems considered.
کلیدواژه‌ها
Underactuation؛ Feedback linearization؛ State bisection
مراجع
آمار
تعداد مشاهده مقاله: 1,314
تعداد دریافت فایل اصل مقاله: 1,328
پیوندهای مفید
آمار
تعداد نشریات9
تعداد شماره‌ها455
تعداد مقالات5,771
تعداد مشاهده مقاله8,379,250
تعداد دریافت فایل اصل مقاله6,938,089