Local nested transverse feedback linearization
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Date
2015-08-29
Authors
Doosthoseini, Alireza
Nielsen, Christopher
Journal Title
Journal ISSN
Volume Title
Publisher
Springer
Abstract
We study two local feedback equivalence problems for a nonlinear control-affine system with two nested, controlled-invariant, embedded submanifolds in its state space. The first, less restrictive, result gives necessary and sufficient conditions for the dynamics of the system restricted to the larger submanifold and transversal to the smaller submanifold to be linear and controllable. This normal form facilitates designing controllers that locally stabilize the smaller set relative to the larger set. The second, more restrictive, result additionally imposes that the transversal dynamics to the larger set be linear and controllable. This result can simplify designing controllers to locally stabilize the larger submanifold. This is illustrated by sufficient conditions under which these normal forms can be used to locally solve a nested set stabilization problem.
Description
This is a post-peer-review, pre-copyedit version of an article published in Mathematics of Control, Signals, and Systems. The final authenticated version is available online at: http://dx.doi.org/https://doi.org/10.1007/s00498-015-0149-y
Keywords
Feedback equivalence, partial feedback linearization, nested sets, nonlinear control systems