Effect of unmodelled actuator dynamics on feedback linearised systems and a two stage feedback linearisation method

Mohamed Kara Mohamed, Alexander Lanzon

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    Abstract

    This paper is concerned with the control design of nonlinear systems using feedback linearisation. The paper highlights the destabilisation effect of unmodelled actuator dynamics when applying feedback linearisation. To overcome this difficulty, a two stage feedback linearisation technique is proposed to compensate for actuator dynamics and subsequently linearise nonlinear systems. A case study of a tri-rotor UAV is used to showcase the benefits of the proposed method in comparison with classical feedback linearisation. The paper is written from a UAV application's point of view, however, the proposed procedure is still valid for any input-affine invertible nonlinear system. © 2013 IEEE.
    Original languageEnglish
    Title of host publicationProceedings of the IEEE Conference on Decision and Control|Proc IEEE Conf Decis Control
    PublisherIEEE
    Pages841-846
    Number of pages5
    ISBN (Print)9781467357173
    DOIs
    Publication statusPublished - 2013
    Event52nd IEEE Conference on Decision and Control, CDC 2013 - Florence
    Duration: 1 Jul 2013 → …

    Conference

    Conference52nd IEEE Conference on Decision and Control, CDC 2013
    CityFlorence
    Period1/07/13 → …

    Keywords

    • actuators
    • compensation
    • control system synthesis
    • feedback
    • linearisation techniques
    • nonlinear control systems
    • stability
    • UAV application
    • actuator dynamics
    • control design
    • destabilisation effect
    • feedback linearised systems
    • input-affine invertible nonlinear system
    • tri-rotor UAV
    • two-stage feedback linearisation method
    • unmanned aerial vehicles
    • unmodelled actuator dynamics
    • Actuators
    • Nonlinear systems

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