A robust linear control methodology based on fictitious failure rejection

Bonilla, M.; Blas-Sánchez, Luis Ángel; Salazar, Sergio; Martinez, J. C.; Malabre, Michel

doi:10.1109/ecc.2016.7810681

Cited by 4 publications

(4 citation statements)

References 16 publications

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“…In the presented example we have obtained a good control performance under the perturbation of π/4 [rad] with respect to the Euler angles (φ, θ, ψ). An interesting and important feature of the robust asymptotic feedback linearization scheme that we propose can be expressed as follows: it takes into account the non-modeled dynamics; see [5] for the theoretic and experimental results. Also, in [7] is presented a detailed synthesis procedure for an experimental quadrotor laboratory prototype, where some simulations are shown, as well as an experimental proof in open field.…”

Section: Simulation Resultsmentioning

confidence: 99%

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Robust structural feedback linearization based on the nonlinearities rejection

Bonilla

Blas-Sánchez

Azhmyakov

et al. 2020

Journal of the Franklin Institute

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In this paper, we consider a class of affine control systems and propose a new structural feedback linearization technique. This relatively simple approach involves a generic linear-type control scheme and follows the classic failure detection methodology. The robust linearization idea proposed in this contribution makes it possible an effective rejection of nonlinearities that belong to a specific class of functions. The nonlinearities under consideration are interpreted here as specific signals that affect the initially given systems dynamics. The implementability and efficiency of the proposed robust control methodology is illustrated via the attitude control of a PVTOL. AbstractIn this paper, we consider a class of affine control systems and propose a new structural feedback linearization technique. This relatively simple approach involves a generic linear-type control scheme and follows the classic failure detection methodology. The robust linearization idea proposed in this contribution makes it possible an effective rejection of nonlinearities that belong to a specific class of functions. The nonlinearities under consideration are interpreted here as specific signals that affect the initially given systems dynamics. The implementability and efficiency of the proposed robust control methodology is illustrated via the attitude control of a Planar Vertical Take Off Landing (PV-TOL) system. Notation. The following notation is used through this paper.• Script capitals V , W , . . . denote finite dimensional linear spaces with elements v, w, . . .. The expression V ≈ W stands for dim (V ) = dim (W ). Moreover, when V ⊂ W , W V or W /V stands for the quotient space W modulo V . Next, V κ denotes the Cartesian product V × · · · × V (κ times). By X : V → W , we denote a linear transformation operating from V to W . As usually, Im X = X V denotes the image of X and ker X is its kernel. Moreover, X −1 T stands for the inverse image of T ⊂ W . The special subspaces Im B and ker C are denoted by B, and K , respectively. The zero dimension subspace is indicated as 0 and σ {A} denotes the spectrum of the linear transformation A. The identity operator is denoted by I: Ix = x; A 0 is the identity operator, for any given linear transformation A. The matrix of a given linear transformation A : X → X in a given basis is noted as A ∈ R n×n . Additionally, for the elements v, w, . . . ∈

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Section: Simulation Resultsmentioning

confidence: 99%

“…Assumptions H5.3 and H8 make it possible to apply results of [5] and to design a robust disturbance rejection (based on the Beard-Jones filter (cf. [4,19,27,36,41]…”

Section: Robust Asymptotic Feedback Linearizationmentioning

confidence: 99%

Robust structural feedback linearization based on the nonlinearities rejection

Bonilla

Blas-Sánchez

Azhmyakov

et al. 2020

Journal of the Franklin Institute

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“…In [1], we have shown that for a system modeled by the state space representation (3.1), where q is an uncertainty signal, and the map S is contained in the image of B, namely there exists a Q such that: S = BQ, then the uncertainty signal q can be rejected by means of the Beard-Jones filter (3.11). Such proposition was tested via the altitude control of a planar vertical takeoff and landing (PVTOL) aircraft in a laboratory setting.…”

Section: Discussionmentioning

confidence: 99%

“…Assumptions H1.3 and H3 make it possible to apply results of [1] and to design a robust disturbance rejection (based on the Beard-Jones filter, see [8] and the reference there included):…”

Section: Lemma 1 ([3])mentioning

confidence: 99%

Synthesis of a robust linear structural feedback linearization scheme for an experimental quadrotor

Blas-Sánchez

Bonilla

Salazar

et al. 2019

2019 18th European Control Conference (ECC)

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In this paper, we show in detail a synthesis procedure of the control scheme recently proposed in [3]. This control scheme has the advantage of combining the classical linear control techniques with the sophisticated robust control techniques. This control scheme is specially ad hoc for unmanned aircraft vehicles, where it is important not only to reject the actual nonlinearities and the unexpected changes of the structure, but also to look for the simplicity and effectiveness of the control scheme.

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