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Journal articles on the topic 'Transverse feedback linearization'

Author: Grafiati

Published: 25 May 2024

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1

Nielsen, Christopher, and Manfredi Maggiore. "On Local Transverse Feedback Linearization." SIAM Journal on Control and Optimization 47, no. 5 (January 2008): 2227–50. http://dx.doi.org/10.1137/070682125.

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2

Doosthoseini, Alireza, and Christopher Nielsen. "Local nested transverse feedback linearization." Mathematics of Control, Signals, and Systems 27, no. 4 (August 29, 2015): 493–522. http://dx.doi.org/10.1007/s00498-015-0149-y.

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3

D’Souza, Rollen S., and Christopher Nielsen. "An Algorithm for Local Transverse Feedback Linearization." SIAM Journal on Control and Optimization 61, no. 3 (June 2, 2023): 1248–72. http://dx.doi.org/10.1137/21m1444588.

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4

Banaszuk, Andrzej, and John Hauser. "Feedback linearization of transverse dynamics for periodic orbits." Systems & Control Letters 26, no. 2 (September 1995): 95–105. http://dx.doi.org/10.1016/0167-6911(94)00110-h.

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5

Fevre, Martin, Bill Goodwine, and James P. Schmiedeler. "Terrain-blind walking of planar underactuated bipeds via velocity decomposition-enhanced control." International Journal of Robotics Research 38, no. 10-11 (August 26, 2019): 1307–23. http://dx.doi.org/10.1177/0278364919870242.

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In this article, we develop and assess a novel approach for the control of underactuated planar bipeds that is based on velocity decomposition. The new controller employs heuristic rules that mimic the functionality of transverse linearization feedback control and that can be layered on top of a conventional hybrid zero dynamics (HZD)-based controller. The heuristics sought to retain HZD-based control’s simplicity and enhance disturbance rejection for practical implementation on realistic biped robots. The proposed control strategy implements a feedback on the time rate of change of the decomposed uncontrolled velocity and is compared with conventional HZD-based control and transverse linearization feedback control for both vanishing and non-vanishing disturbances. Simulation studies with a point-foot, three-link biped show that the proposed method has nearly identical performance to transverse linearization feedback control and outperforms conventional HZD-based control. For the non-vanishing case, the velocity decomposition-enhanced controller outperforms HZD-based control, but takes fewer steps on average before failure than transverse linearization feedback control when walking on uneven terrain without visual perception of the ground. The findings were validated experimentally on a planar, five-link biped robot for eight different uneven terrains. The velocity decomposition-enhanced controller outperformed HZD-based control while maintaining a relatively low specific energetic cost of transport (~0.45). The biped robot “blindly” traversed uneven terrains with changes in terrain height accumulating to 5% of its leg length using the stand-alone low-level controller.

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6

de Souza Cardoso, Gildeberto, Leizer Schnitman, José Valentim dos Santos Filho, and Luiz Carlos Simões Soares Júnior. "Restriction of Transverse Feedback Linearization for Piecewise Linear Paths." Mathematical Problems in Engineering 2021 (January 29, 2021): 1–8. http://dx.doi.org/10.1155/2021/8270793.

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This work presents a path-following controller for a unicycle robot. The main contribution of this paper is to demonstrate the restriction of transverse feedback linearization (TFL) to obtuse angles on piecewise linear paths. This restriction is experimentally demonstrated on a Kobuki mobile robot, where it is possible to observe, as a result of the limitation of the TFL, the convergence to another domain of attraction.

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7

Nielsen, Chris, and Manfredi Maggiore. "Maneuver regulation via transverse feedback linearization: Theory and examples." IFAC Proceedings Volumes 37, no. 13 (September 2004): 57–64. http://dx.doi.org/10.1016/s1474-6670(17)31200-4.

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8

Nielsen, Christopher. "Transverse Feedback Linearization with Partial Information for Single-Input Systems." SIAM Journal on Control and Optimization 52, no. 5 (January 2014): 3002–21. http://dx.doi.org/10.1137/120900149.

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9

D’Souza, Rollen S., and Christopher Nielsen. "An exterior differential characterization of single-input local transverse feedback linearization." Automatica 127 (May 2021): 109493. http://dx.doi.org/10.1016/j.automatica.2021.109493.

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10

Dovgobrod, G. M. "Generation of a highly-smooth desired path for transverse feedback linearization." Gyroscopy and Navigation 8, no. 1 (January 2017): 63–67. http://dx.doi.org/10.1134/s2075108717010023.

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11

Akhtar, Adeel, Christopher Nielsen, and Steven L. Waslander. "Path Following Using Dynamic Transverse Feedback Linearization for Car-Like Robots." IEEE Transactions on Robotics 31, no. 2 (April 2015): 269–79. http://dx.doi.org/10.1109/tro.2015.2395711.

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12

Oki, Takafumi, and Bijoy K. Ghosh. "A transverse local feedback linearization approach to human head movement control." Control Theory and Technology 15, no. 4 (November 2017): 288–300. http://dx.doi.org/10.1007/s11768-017-7034-9.

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13

Song, Sumian, Chong Tang, Zidong Wang, Yinan Wang, and Gangfeng Yan. "Design of active disturbance rejection controller for compass-like biped walking." International Journal of Advanced Robotic Systems 15, no. 3 (May 1, 2018): 172988141877684. http://dx.doi.org/10.1177/1729881418776845.

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This article proposes an active disturbance rejection controller design scheme to stabilize the unstable limit cycle of a compass-like biped robot. The idea of transverse coordinate transformation is applied to form the control system based on angular momentum. With the linearization approximation, the limit cycle stabilization problem is simplified into the stabilization of an linear time-invariant system, which is known as transverse coordinate control. In order to solve the problem of poor adaptability caused by linearization approximation, we design an active disturbance rejection controller in the form of a serial system. With the active disturbance rejection controller, the system error can be estimated by extended state observer and compensated by nonlinear state error feedback, and the unstable limit cycle can be stabilized. The numerical simulations show that the control law enhances the performance of transverse coordinate control.

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14

Nielsen, Christopher, Cameron Fulford, and Manfredi Maggiore. "Path following using transverse feedback linearization: Application to a maglev positioning system." Automatica 46, no. 3 (March 2010): 585–90. http://dx.doi.org/10.1016/j.automatica.2010.01.009.

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15

Banaszuk, Andrzej, and John Hauser. "Feedback linearization of transverse dynamics for periodic orbits in R3 with points of transverse controllability loss." Systems & Control Letters 26, no. 3 (October 1995): 185–93. http://dx.doi.org/10.1016/0167-6911(95)00014-z.

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16

Shen, Zhe, and Takeshi Tsuchiya. "Cat-Inspired Gaits for a Tilt-Rotor—From Symmetrical to Asymmetrical." Robotics 11, no. 3 (May 13, 2022): 60. http://dx.doi.org/10.3390/robotics11030060.

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Among the tilt-rotors (quadrotors) developed in recent decades, Ryll’s model with eight inputs (four magnitudes of thrusts and four tilting angles) attracted great attention. Typical feedback linearization maneuvers all of the eight inputs with a united control rule to stabilize this tilt-rotor. Instead of assigning the tilting angles by the control rule, the recent research predetermines the tilting angles and leaves the magnitudes of thrusts with the only control signals. These tilting angles are designed to mimic the cat-trot gait while avoiding the singular decoupling matrix in feedback linearization. To complete the discussions of the cat-gait inspired tilt-rotor gaits, this research addresses the analyses on the rest of the common cat gaits, walk, run, transverse gallop, and rotary gallop. It is found that the singular decoupling matrix exists in walk gait, transverse gallop gait, and rotary gallop gait; the decoupling matrix can hardly be guaranteed to be invertible analytically. Further modifications (scaling) are conducted to these three gaits to accommodate the application of feedback linearization; the acceptable attitudes, leading to invertible decoupling matrix, for each scaled gait are evaluated in the roll-pitch diagram. The modified gaits with different periods are then applied to the tilt-rotor in tracking experiments, in which the references are uniform rectilinear motion and uniform circular motion with or without the equipment of the modified attitude-position decoupler. All the experiments are simulated in Simulink, MATLAB. The result shows that these gaits, after modifications, are feasible in tracking references, especially for the cases equipped with the modified attitude-position decoupler.

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17

Banaszuk, Andrzej, and John Hauser. "Feedback Linearization of Transverse Dynamics for Periodic Orbits in R 3 with Points of Transverse Controllability Loss *." IFAC Proceedings Volumes 28, no. 14 (June 1995): 269–74. http://dx.doi.org/10.1016/s1474-6670(17)46842-x.

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18

Kayacan, Erkan, Zeki Y. Bayraktaroglu, and Wouter Saeys. "Modeling and control of a spherical rolling robot: a decoupled dynamics approach." Robotica 30, no. 4 (August 8, 2011): 671–80. http://dx.doi.org/10.1017/s0263574711000956.

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SUMMARYThis paper presents the results of a study on the dynamical modeling, analysis, and control of a spherical rolling robot. The rolling mechanism consists of a 2-DOF pendulum located inside a spherical shell with freedom to rotate about the transverse and longitudinal axis. The kinematics of the model has been investigated through the classical methods with rotation matrices. Dynamic modeling of the system is based on the Euler–Lagrange formalism. Nonholonomic and highly nonlinear equations of motion have then been decomposed into two simpler subsystems through the decoupled dynamics approach. A feedback linearization loop with fuzzy controllers has been designed for the control of the decoupled dynamics. Rolling of the controlled mechanism over linear and curvilinear trajectories has been simulated by using the proposed decoupled dynamical model and feedback controllers. Analysis of radius of curvature over curvilinear trajectories has also been investigated.

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19

Szmidt, Tomasz, and Piotr Przybyłowicz. "An active electromagnetic stabilization of the Leipholz column." Archives of Control Sciences 22, no. 2 (January 1, 2012): 161–74. http://dx.doi.org/10.2478/v10170-011-0018-y.

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An active electromagnetic stabilization of the Leipholz column We study the application of electromagnetic actuators for the active stabilization of the Leipholz column. The cases of the compressive and tensional load of the column placed in air and in water are considered. The partial differential equation of the column is discretized by Galerkin's procedure, and the stability of the obtained control system is evaluated by the eigenvalues of its linearization. Four different methods of active stabilization are investigated. They incorporate control systems based on feedback proportional to the transverse displacement of the column, its velocity and the current in the electromagnets. Conditions in which these strategies are effective in securing safe operation of the column are discussed in detail.

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20

Shkolnik, Alexander, Michael Levashov, Ian R. Manchester, and Russ Tedrake. "Bounding on rough terrain with the LittleDog robot." International Journal of Robotics Research 30, no. 2 (December 7, 2010): 192–215. http://dx.doi.org/10.1177/0278364910388315.

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A motion planning algorithm is described for bounding over rough terrain with the LittleDog robot. Unlike walking gaits, bounding is highly dynamic and cannot be planned with quasi-steady approximations. LittleDog is modeled as a planar five-link system, with a 16-dimensional state space; computing a plan over rough terrain in this high-dimensional state space that respects the kinodynamic constraints due to underactuation and motor limits is extremely challenging. Rapidly Exploring Random Trees (RRTs) are known for fast kinematic path planning in high-dimensional configuration spaces in the presence of obstacles, but search efficiency degrades rapidly with the addition of challenging dynamics. A computationally tractable planner for bounding was developed by modifying the RRT algorithm by using: (1) motion primitives to reduce the dimensionality of the problem; (2) Reachability Guidance, which dynamically changes the sampling distribution and distance metric to address differential constraints and discontinuous motion primitive dynamics; and (3) sampling with a Voronoi bias in a lower-dimensional “task space” for bounding. Short trajectories were demonstrated to work on the robot, however open-loop bounding is inherently unstable. A feedback controller based on transverse linearization was implemented, and shown in simulation to stabilize perturbations in the presence of noise and time delays.

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21

Fatehi, Mohammad H., Mohammad Eghtesad, Dan S. Necsulescu, and Ali A. Fatehi. "Tracking control design for a multi-degree underactuated flexible-cable overhead crane system with large swing angle based on singular perturbation method and an energy-shaping technique." Journal of Vibration and Control 25, no. 11 (March 6, 2019): 1752–67. http://dx.doi.org/10.1177/1077546319833881.

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A flexible-cable overhead crane system having large swing is studied as a multi-degree underactuated system. To resolve the system dynamics complexities, a second order singular perturbation (SP) formulation is developed to divide the crane dynamics into two one-degree underactuated fast and slow subsystems. Then, a control system is designed based on the two-time scale control (TTSC) method to: (a) transfer the payload to a desired location and decrease the payload swing, by a nonlinear controller for slow dynamics; and (b) suppress transverse vibrations of the cable, by a linear controller for fast dynamics. The nonlinear controller is designed based on an energy shaping technique according to the controlled Lagrangian method. To demonstrate the control system effectiveness, an example of the flexible cable crane systems with a lightweight payload is considered to perform simulations. In addition to the proposed control system, two other controllers; namely, a linear controller based on the linear–quadratic regulator method and a TTSC based on the approximate SP model and partial feedback linearization, are applied to the system for comparison. Also, by applying a disturbance force to the trolley and considering 10% uncertainty in crane parameters, the control performance against disturbances and parameter uncertainties is investigated.

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22

Elobaid, Mohamed, Salvatore Monaco, and Dorothee Normand-Cyrot. "Approximate transverse feedback linearization under digital control." IEEE Control Systems Letters, 2020, 1. http://dx.doi.org/10.1109/lcsys.2020.3046539.

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23

D'Souza, Rollen S., Robbert Louwers, and Christopher Nielsen. "Piecewise Linear Path Following for a Unicycle Using Transverse Feedback Linearization." IEEE Transactions on Control Systems Technology, 2021, 1–11. http://dx.doi.org/10.1109/tcst.2021.3049715.

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24

Fevre, Martin, Bill Goodwine, and James P. Schmiedeler. "Velocity Decomposition-Enhanced Control for Point and Curved-Foot Planar Bipeds Experiencing Velocity Disturbances." Journal of Mechanisms and Robotics 11, no. 2 (February 22, 2019). http://dx.doi.org/10.1115/1.4042485.

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This paper extends the use of velocity decomposition of underactuated mechanical systems to the design of an enhanced hybrid zero dynamics (HZD)-based controller for biped robots. To reject velocity disturbances in the unactuated degree-of-freedom, a velocity decomposition-enhanced controller implements torso and leg offsets that are proportional to the error in the time derivative of the unactuated velocity. The offsets are layered on top of an HZD-based controller to preserve simplicity of implementation. Simulation results with a point-foot, three-link planar biped show that the proposed method has nearly identical performance to transverse linearization feedback control and outperforms conventional HZD-based control. Curved feet are implemented in simulation and show that the proposed control method is valid for both point-foot and curved-foot planar bipeds. Performance of each controller is assessed by (1) the magnitude of the disturbance it can reject by numerically computing the basin of attraction, (2) the speed of return to nominal step velocity following a disturbance at every point of the gait cycle, and (3) the energetic efficiency, which is measured via the specific cost of transport. Several gaits are analyzed to demonstrate that the observed trends are consistent across different walking speeds.

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