C.A.D. for Nonlinear Systems Decoupling, Perturbations Rejection and Feedback Linearization with Applications to the Dynamic Control of a Robot Arm

We present a C.A.D. package for nonlinear systems to compute and simulate feedback control laws that decouple, reject the perturbations or linearize, possibly simultaneously.

[1]  A. Isidori,et al.  Nonlinear decoupling via feedback: A differential geometric approach , 1981 .

[2]  R. Paul.  Robot manipulators : mathematics, programming, and control : the computer control of robot manipulators , 1981 .

[3]  Françoise Lamnabhi-Lagarrigue,et al.  An algebraic approach to nonlinear functional expansions , 1983 .

[4]  Michel Fliess,et al.  Application of a new functional expansion to the cubic anharmonic oscillator , 1982 .

[5]  E. Freund.  Fast Nonlinear Control with Arbitrary Pole-Placement for Industrial Robots and Manipulators , 1982 .

[6]  D. Claude,et al.  Decouplage et Immersion D’un Modele Neuroendocrinien , 1986 .

[7]  Henk Nijmeijer,et al.  Controllability distributions for nonlinear control systems , 1982 .

[8]  M. Fliess,et al.  A Finiteness Criterion for Nonlinear Input–Output Differential Systems , 1983 .

[9]  A. Isidori,et al.  Nonlinear feedback in robot arm control , 1984, The 23rd IEEE Conference on Decision and Control.

[10]  J. Lévine,et al.  Exact finite-dimensional filters via systems realization for a class of discrete-time nonlinear systems☆ , 1985 .

[11]  D. Claude.  Decoupling of nonlinear systems , 1982 .

[12]  A. A. Schy,et al.  Output feedback non-linear decoupled control synthesis and observer design for manoeuvring aircraft , 1980 .

[13]  D. Lentini,et al.  Dynamical control of industrial robots with elastic and dissipative joints , 1981 .

[14]  Alberto Isidori,et al.  An Application of Nonlinear Model Matching to the Dynamic Control of Robot Arm with Elastic Joints , 1985 .

[15]  Dragoslav D. Šiljak,et al.  On reachability of dynamic systems , 1977 .

[16]  J. Lévine,et al.  A fast graph theoretic algorithm for the feedback decoupling problem of nonlinear systems , 1984 .