Revisiting the Normal Form of Input-Output Linearization

• 成果类型: Article
• 署名作者: Maggiore, Manfredi
• 署名单位: University of Toronto
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3367650
• 发表日期: 2024
• 页码: 5995-6009
• 关键词: Manifolds; vectors; Heuristic algorithms; nonlinear dynamical systems; Level set; Jacobian matrices; indexes; Feedback linearization; nonlinear control; Normal form; set stabilization; zero dynamics manifold (ZDM)

摘要

This article revisits the normal form arising in the context of input-output feedback linearization for nonlinear control systems possessing well-defined relative degree. The objective is to investigate the validity of the normal form in a neighborhood of the zero dynamics manifold, as opposed to a neighborhood of a point on the manifold. The two main results of the article are necessary and sufficient conditions under which the normal form exists in some neighborhood of the zero dynamics manifold, or in a given a priori neighborhood of the manifold in question. A special case is the existence of a global normal form. These results naturally lead to conditions for either local or regional (global, as a special case) asymptotic stabilization of the zero dynamics manifold. To illustrate these contributions, a normal form is derived for the kinematic unicycle model leading to a novel global circular path following controller.