Structural feedback linearization based on nonlinearities rejection

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Fecha
2017
Autor
Blas L.A.
Bonilla M.
Malabre M.
Azhmyakov V.
Salazar S.
CINVESTAV-IPN, DCA, Mexico
CINVESTAV-IPN, DCA, UMI 3175, CINVESTAV-CNRS, Mexico
CNRS, LS2N (Laboratoire des Sciences du Numérique de Nantes), UMR 6004, France
Universidad de Medellin, Department of Basic Sciences, Medellin, Colombia
CINVESTAV-IPN, SANAS, UMI 3175, CINVESTAV-CNRS, Mexico
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Resumen
In this paper, a structural feedback linearization technique is proposed. This is a quite simple and effective linear control scheme based on failure detection techniques. Our proposed linear control approach is intended to reject the nonlinearities, which are treated as failure signals affecting the systems dynamics. The proposed control methodology is illustrated via the attitude control of a quadrotor in hover flying. © 2017
URI
http://hdl.handle.net/11407/4249
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