INVERSION OF NONLINEAR TIME-VARYING SYSTEMS

被引：17
|
作者：
DIBENEDETTO, MD
LUCIBELLO, P
机构：
[1] Dipartimento di Informatica e Sistemistica, Universit di Roma “La Sapienza,”, Via Eudossiana
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1993年 / 38卷 / 08期
关键词：
D O I：
10.1109/9.233163
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this note, a new procedure for inverting nonlinear systems is proposed, which presents some computational advantages when applied to flexible robot arms or. more generally, to mechanical structures. This procedure will be presented in a general setting, for nonlinear time-varying systems. An iterative algorithm is proposed which computes a smooth controlled invariant time-varying manifold whose mathematical properties are illustrated and exploited. An application to a flexible two-link manipulator illustrates the given algorithm and its computational advantages.
引用
下载
收藏
页码：1259 / 1264
页数：6
相关论文
共 50 条
  • [1] INVERSION OF NONLINEAR AND TIME-VARYING SYSTEMS
    Baran, Thomas A.
    Oppenhiem, Alan V.
    2011 IEEE DIGITAL SIGNAL PROCESSING WORKSHOP AND IEEE SIGNAL PROCESSING EDUCATION WORKSHOP (DSP/SPE), 2011, : 283 - 288
  • [2] Inversion procedure for nonlinear time-varying systems
    Di Benedetto, M.D.
    Lucibello, P.
    Lecture Notes in Control and Information Sciences, 1991, 162 : 207 - 215
  • [3] AN INVERSION PROCEDURE FOR NONLINEAR TIME-VARYING SYSTEMS
    DIBENEDETTO, MD
    LUCIBELLO, P
    LECTURE NOTES IN CONTROL AND INFORMATION SCIENCES, 1991, 162 : 207 - 215
  • [4] Stable inversion for nonlinear nonminimum-phase time-varying systems
    Devasia, S
    Paden, B
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1998, 43 (02) : 283 - 288
  • [5] STABILITY OF NONLINEAR TIME-VARYING SYSTEMS
    VENKATESH, YV
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1973, AC18 (01) : 67 - 68
  • [6] Optimization of nonlinear time-varying systems
    Purdue Univ at Indianapolis, Indianapolis, United States
    Proceedings of the IEEE Conference on Decision and Control, 1998, 2 : 1798 - 1803
  • [7] STABILITY OF NONLINEAR TIME-VARYING SYSTEMS
    NARENDRA, KS
    TAYLOR, JH
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1967, AC12 (05) : 628 - &
  • [8] Optimization of nonlinear time-varying systems
    Lyshevski, SE
    PROCEEDINGS OF THE 37TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, 1998, : 1798 - 1803
  • [9] Representation of time-varying nonlinear systems with time-varying principal dynamic modes
    Zhong, Yuru
    Jan, Kung-Ming
    Ju, Ki H.
    Chon, Ki H.
    IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, 2007, 54 (11) : 1983 - 1992
  • [10] Feedback linearisation of time-varying nonlinear systems via time-varying diffeomorphism
    Choi, HL
    Lim, JT
    IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS, 2003, 150 (03): : 279 - 284
12345