Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 1062-1063 |
| Number of pages | 2 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 2 |
| State | Published - 1989 |
| Event | Proceedings of the 28th IEEE Conference on Decision and Control. Part 2 (of 3) - Tampa, FL, USA Duration: 13 Dec 1989 → 15 Dec 1989 |