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Nonlinear control robot: A phenomenological approach to linearization by static feedback

Published online by Cambridge University Press:  09 March 2009

M. Verdier ,
M. Rouff  and
J. G. Fontaine
M. Verdier
Affiliation:
LIMRO, IUT de Cachan, 9 av. de la div. Leclerc, 94230 Cachan (France).
M. Rouff
Affiliation:
LGEP, CNRS-ESE, Plateau du Moulon, 91190 Gif sur Yvette (France).
J. G. Fontaine
Affiliation:
LIMRO, IUT de Cachan, 9 av. de la div. Leclerc, 94230 Cachan (France).
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Summary

This paper presents a linearization by static feedbacks in the robotic field, i.e. by feedback depending on the whole state space. A phenomenological approach is considered, which by using the derivation with respect to time, leads to the major results of the method. Simulation results are presented, and some aspects of the correction of the effect of the characteristic numbers are also discussed.

Keywords

LinearizationStatic feedbackNonlinear systemLinear systemFeedback control
Type
Research Article
Information
Robotica , Volume 7 , Issue 4 , October 1989 , pp. 315 - 321
Copyright
Copyright © Cambridge University Press 1989

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References

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