Nonregular feedback linearization for a class of second-order nonlinear systems

DOI10.1016/S0005-1098(01)00129-7zbMath0987.93011DBLPjournals/automatica/GeSL01WikidataQ57528002 ScholiaQ57528002MaRDI QIDQ5950256

Shuzhi Sam Ge, Tong-Heng Lee, Zhendong Sun

Publication date: 27 June 2002

Published in: Automatica (Search for Journal in Brave)

zbMATH Keywords

feedback linearizationflexible joint manipulatornonregular static state feedback

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Linearizations (93B18) Robot dynamics and control of rigid bodies (70E60)

Related Items (5)

Orbital feedback linearization for multi‐input control systems ⋮ Linearization via Nonregular Feedback of Multi-input Nonlinear Control Systems ⋮ Non-regular feedback linearization of nonlinear systems via a normal form algorithm. ⋮ New results on non-regular linearization of non-linear systems ⋮ Separating the Drift from Affine Control Systems via Feedbacks

Cites Work

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• An observer for flexible joint robots
• Global regulation of flexible joint robots using approximate differentiation
• A condition for dynamic feedback linearization of control-affine nonlinear systems
• Robust control of robot manipulators: A survey
• On passivity‐based output feedback global stabilization of euler‐lagrange systems

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