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Article Dans Une Revue Journal of The Franklin Institute Année : 2020

Robust structural feedback linearization based on the nonlinearities rejection

Moisés E. Bonilla
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Luis Angel Blas
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Vadim Azhmyakov
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Sergio Salazar

Résumé

In this paper, we consider a class of affine control systems and propose a new structural feedback linearization technique. This relatively simple approach involves a generic linear-type control scheme and follows the classic failure detection methodology. The robust linearization idea proposed in this contribution makes it possible an effective rejection of nonlinearities that belong to a specific class of functions. The nonlinearities under consideration are interpreted here as specific signals that affect the initially given systems dynamics. The implementability and efficiency of the proposed robust control methodology is illustrated via the attitude control of a PVTOL.
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Dates et versions

hal-02362693 , version 1 (14-11-2019)
hal-02362693 , version 2 (21-11-2019)

Identifiants

  • HAL Id : hal-02362693 , version 2

Citer

Moisés E. Bonilla, Luis Angel Blas, Vadim Azhmyakov, Michel Malabre, Sergio Salazar. Robust structural feedback linearization based on the nonlinearities rejection. Journal of The Franklin Institute, 2020, 357, pp.2232-2262. ⟨hal-02362693v2⟩
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