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Orbital feedback linearization for multi-input control systems
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DOI：10.1002/rnc.3147.png)
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A nonlinear control system is said to be orbital feedback linearizable if there exist an invertible static feedback and a change of time scale (depending on the state) which transform the system into a linear system. We give geometric necessary and sufficient conditions describing multi-input control-affine systems that are orbital feedback linearizable out of equilibria and in the case of equal controllability indices. We also describe a construction of the time rescaling needed to orbitally linearize the system. Moreover, we analyze close relations between orbital feedback linearizable control-affine systems and control-linear systems that are feedback equivalent to a multi-chained form comparing geometric structures corresponding to both problems. We illustrate our results by two examples, one being a rigid bar moving in R3.Copyright (c) 2014 John Wiley & Sons, Ltd.
Keyword:
orbital feedback linearization
time rescaling
control systems
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期刊
IF:
3.2
论文数:
7.0K
被引数:
1.4W
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