• Title/Summary/Keyword: Geometric Nonlinear Time-varying Control

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Nonlinear Time-Varying Control Based on Differential Geometry

  • Lee, Jong-Yong;Jung, Kye-dong;Cho, Seongsoo;Strzelecki, Michat
    • International Journal of Internet, Broadcasting and Communication
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    • v.6 no.2
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    • pp.1-9
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    • 2014
  • This paper presents a study on nonlinear time varying systems based on differential geometry. A brief introduction about controllability and involutivity will be presented. As an example, the exact feedback linearization and the approximate feedback linearization are used in order to show some application examples.

Adaptive State Feedback Control for Nonlinear Rotary Inverted Pendulum System using Similarity Transformation Method: Implementation of Real-Time Experiment (유사변환기법을 이용한 비선형 회전식 역진자의 적응형 상태궤환 제어시스템: 실시간 실험 구현)

  • Cho, Hyun-Cheol;Lee, Young-Jin;Lee, Kwon-Soon;Koo, Kyung-Wan
    • The Transactions of the Korean Institute of Electrical Engineers P
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    • v.58 no.2
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    • pp.130-135
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    • 2009
  • In recent years, researches on rotary inverted pendulum control systems have been significantly focused due their highly nonlinear dynamics and complicated geometric structures. This paper presents a novel control approach for such systems by means of similarity transformation theory. At first, we represent nonlinear system dynamics to the controllability-formed state space model including a time-varying parameter vector. We establish the state-feedback control configuration based on the transformed model and derive an adaptive control law for adjusting desired characteristic equation. Numerical analysis is achieved to evaluate our control method and demonstrate its superiority by comparing it to the traditional control strategy. Furthermore, real-time control experiment is carried out to test its practical reliability.