Transverse Feedback Linearization with Partial Information for Single-Input Systems
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Date
2014-09-25
Authors
Nielsen, Christopher
Advisor
Journal Title
Journal ISSN
Volume Title
Publisher
SIAM
Abstract
This paper is motivated by the problem of asymptotically stabilizing invariant sets
in the state space of control systems by means of output feedback. The sets considered are smooth
embedded in submanifolds and the class of system is nonlinear, finite-dimensional, autonomous,
deterministic, single-input and control-affine. Given an invariant set and a control system with fixed
output, necessary and sufficient conditions are presented for feedback equivalence to a normal form
that facilities the design of output feedback controllers that stabilize the set using existing design
techniques.
Description
“First Published in SIAM Journal on Control and Optimization in 2014, published by the Society for Industrial and Applied Mathematics (SIAM)” and the copyright notice as stated in the article itself (e.g., “Copyright © by SIAM. Unauthorized reproduction of this article is prohibited.”')
Keywords
transverse feedback linearization, feedback equivalence, output feedback, set stabilization, robust path following