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1
Vijay Kumar
State
Input
State equations
Output
Function
Vector Field X
Example: n=2
q m
Want
or
Lie Derivatives
State equations
Output
Control law
v u y
nonlinear original
feedback system
new system
Nonlinear feedback transforms the original nonlinear system to a new linear system
Linearization is exact (distinct from linear approximations to nonlinear systems)
Input u
State equations
Control law
Input u
State equations
Control law
Input u
State equations
Control law
Input u
State equations
Output …
Relative degree, r The index of the first nonzero term in the sequence
r=k+1
11
m
r=2
Property of University of Pennsylvania, Vijay Kumar 13
Affine, SISO
Linear control,
model independent
r=1
feed forward
feedback
r=2
r=3
v u y
nonlinear original
feedback system
new system
Nonlinear feedback transforms the original nonlinear system to a new linear system
State x
Input u
Output
Dynamic model
‣ M is the positive definite, n by n inertia matrix
‣ is the n-dimensional vector of Coriolis and centripetal
forces
‣ N is the n-dimensional vector of gravitational forces
‣ t is the n-dimensional vector of actuator forces and torques
Relative degree is 2
Control law
Outputs
Relative degree is 1
22
2 inputs, 3 degrees of
freedom
4 inputs, 6 degrees of
F3
freedom
M3
F2
F4 w3 M2
M4
w2
F1
w4
M1
w1