Hauser, John and Murray, Richard M. (1990) Nonlinear controllers for non-integrable systems: the Acrobot example. In: 1990 American Control Conference. IEEE , Piscataway, NJ, pp. 669-671. https://resolver.caltech.edu/CaltechAUTHORS:20190319-104216033
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Abstract
Recent developments in the theory of geometric nonlinear control provide powerful methods for controller design for a large class of nonlinear systems. Many systems, however, do not satisfy the restrictive conditions necessary for either full state linearization [6, 5] or input-output linearization with internal stability [2]. In this paper, we present an approach to controller design based on finding a linearizable nonlinear system that well approximates the true system over a desirable region. We outline an engineering procedure for constructing the approximating nonlinear system given the true system. We demonstrate this approach by designing a nonlinear controller for a simple mechanical system patterned after a gymnast performing on a single parallel bar.
Item Type: | Book Section | ||||||
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Additional Information: | © 1990 IEEE. Research supported in part by an IBM Manufacturing fellowship. | ||||||
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DOI: | 10.23919/ACC.1990.4790817 | ||||||
Record Number: | CaltechAUTHORS:20190319-104216033 | ||||||
Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20190319-104216033 | ||||||
Official Citation: | J. Hauser and R. M. Murray, "Nonlinear controllers for non-integrable systems: the Acrobot example," 1990 American Control Conference, San Diego, CA, USA, 1990, pp. 669-671. doi: 10.23919/ACC.1990.4790817 | ||||||
Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||
ID Code: | 93963 | ||||||
Collection: | CaltechAUTHORS | ||||||
Deposited By: | Tony Diaz | ||||||
Deposited On: | 19 Mar 2019 18:10 | ||||||
Last Modified: | 16 Nov 2021 17:01 |
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