Please use this identifier to cite or link to this item: https://doi.org/10.1016/S0005-1098(01)00129-7
Title: Nonregular feedback linearization for a class of second-order nonlinear systems
Authors: Ge, S.S. 
Sun, Z. 
Lee, T.H. 
Keywords: Feedback linearization
Global stability
Nonlinear systems
Nonregular state feedback
Robot control
Issue Date: Nov-2001
Source: Ge, S.S.,Sun, Z.,Lee, T.H. (2001-11). Nonregular feedback linearization for a class of second-order nonlinear systems. Automatica 37 (11) : 1819-1824. ScholarBank@NUS Repository. https://doi.org/10.1016/S0005-1098(01)00129-7
Abstract: In this paper, a class of second-order nonlinear cascade control systems is considered. Under certain structural assumptions, it is proven that these systems are exactly linearizable via nonregular static state feedbacks and state diffeomorphisms. Linearizing input transformations and the corresponding state diffeomorphisms are presented. Finally, nonregular static feedback linearization is applied to a class of flexible joint robots, and the controller constructed is globally asymptotically stabilizing. © 2001 Elsevier Science Ltd. All rights reserved.
Source Title: Automatica
URI: http://scholarbank.nus.edu.sg/handle/10635/56824
ISSN: 00051098
DOI: 10.1016/S0005-1098(01)00129-7
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