You are required to read and agree to the below before accessing a full-text version of an article in the IDE article repository.

The full-text document you are about to access is subject to national and international copyright laws. In most cases (but not necessarily all) the consequence is that personal use is allowed given that the copyright owner is duly acknowledged and respected. All other use (typically) require an explicit permission (often in writing) by the copyright owner.

For the reports in this repository we specifically note that

  • the use of articles under IEEE copyright is governed by the IEEE copyright policy (available at http://www.ieee.org/web/publications/rights/copyrightpolicy.html)
  • the use of articles under ACM copyright is governed by the ACM copyright policy (available at http://www.acm.org/pubs/copyright_policy/)
  • technical reports and other articles issued by M‰lardalen University is free for personal use. For other use, the explicit consent of the authors is required
  • in other cases, please contact the copyright owner for detailed information

By accepting I agree to acknowledge and respect the rights of the copyright owner of the document I am about to access.

If you are in doubt, feel free to contact webmaster@ide.mdh.se

Robust feedback linearization for input-constrained nonlinear systems with matched uncertainties

Authors:

Mojtaba Kaheni, Mohammad Hadadzarif , Ali Akbarzadeh Kalat , Luigi Chisci

Publication Type:

Conference/Workshop Paper

Venue:

17th annual European Control Conference

Abstract

This paper deals with robust feedback linearization control of nonlinear systems with matched uncertainties and subject to constraints on the control input. The proposed approach not only finds an appropriate pole placement for the linearized system to ensure the satisfaction of input constraints, but also tries to improve the speed of response by effectively exploiting the available control authority. The procedure guarantees the satisfaction of input signal constraints based on the invariant set theorem. Simulation results on an uncertain input-constrained nonlinear spring-mass system demonstrate the effectiveness of the proposed approach in terms of both response speed and constraint satisfaction.

Bibtex

@inproceedings{Kaheni6789,
author = {Mojtaba Kaheni and Mohammad Hadadzarif and Ali Akbarzadeh Kalat and Luigi Chisci},
title = {Robust feedback linearization for input-constrained nonlinear systems with matched uncertainties},
month = {June},
year = {2018},
booktitle = {17th annual European Control Conference},
url = {http://www.es.mdu.se/publications/6789-}
}