Nonregular feedback linearization for a class of second-order nonlinear systems

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.