TY - JOUR
T1 - Technique applicable to redundantly actuated, feedback linearizable systems
AU - Dzielski, John
PY - 1989
Y1 - 1989
N2 - A class of systems that require special consideration when feedback linearization is applied is identified. The systems are characterized by redundancy in the actuation system. A linearizing transformation will decouple the subsystems corresponding to the redundant actuators from the system which it is of interest to control. Depending on the physical situation, linear control laws derived in this way may not yield reasonable results. A simple, alternative method for resolving the redundancy issue in these systems is described.
AB - A class of systems that require special consideration when feedback linearization is applied is identified. The systems are characterized by redundancy in the actuation system. A linearizing transformation will decouple the subsystems corresponding to the redundant actuators from the system which it is of interest to control. Depending on the physical situation, linear control laws derived in this way may not yield reasonable results. A simple, alternative method for resolving the redundancy issue in these systems is described.
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M3 - Conference article
AN - SCOPUS:0024915745
SN - 0191-2216
VL - 2
SP - 1062
EP - 1063
JO - Proceedings of the IEEE Conference on Decision and Control
JF - Proceedings of the IEEE Conference on Decision and Control
T2 - Proceedings of the 28th IEEE Conference on Decision and Control. Part 2 (of 3)
Y2 - 13 December 1989 through 15 December 1989
ER -