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In this paper, we extend the previous results on trajectory linearization observer (TLO) for SISO to MIMO nonlinear time-varying (NLTV) systems, and extend the highgain observer theory for linear time-invariant (LTI) observer error dynamics to linear time-varying (LTV) observer error dynamics, using the (time-varying) PD-eigenvalue assignment method. In addition, the time-varying high gain TLO alleviates...
This paper presents the formulation of a Lyapunov function for an exponentially stable linear time-varying (LTV) system using a well-defined PD-spectrum and the associated PD-eigenvectors. It provides a bridge between the first and second methods of Lyapunov for stability assessment, and will find significant applications in the analysis and control law design for LTV systems and linearizable nonlinear...
In this paper, we extend the previous TLO results for SISO trajecotory linearization observer (TLO) to MIMO nonlinear dynamic systems. Regular perturbation and nonlinear high-gain observer theories are applied to analyze the stability and robustness of the TLO method. The high-gain observer theory has been extended from time-invariant cases to time-varying cases using a singular perturbation approach...
Trajectory linearization control (TLC) is a nonlinear control design method, which combines an open-loop nonlinear dynamic inversion and a linear time-varying feedback stabilization. Singular perturbation theory has been applied in TLC applications to simplify the design procedure. In this paper, TLC design for a general nonlinear system with singular perturbation is illustrated. The stability of...
Trajectory linearization control (TLC) is a nonlinear control design method, which combines an open-loop nonlinear dynamic inversion and a linear time-varying feedback stabilization. TLC achieves exponential stability along the nominal trajectory, therefore it provides robust stability and performance. In this paper, stability analysis of TLC with regular perturbation is presented. By integrating...
In this paper, an integrated navigation and control for omni-directional mobile robot is developed. Both control and navigation algorithms are based on trajectory linearization. The robot control is based on trajectory linearization control (TLC), in which an open-loop kinematic inversion and a closed-loop linear time varying (LTV) stabilizer are combined together to provide robust and accurate trajectory...
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