Consensus of Nonlinear System using Feedback Linearization
In this paper, consensus of nonlinear systems is suggested with the linear consensus algorithm and feedback linearization. If the nonlinear system satisfies the controllable and involutive conditions, then there exist diffeomorphism. The nonlinear system can be transformed into the form of high order integrator by feedback linearization. Therefore the high order linear consensus algorithm can be applied to achieve consensus of the nonlinear systems that is feedback linearized. By satisfying the conditions that is related with network structure and gains of the consensus algorithm, the consensus of nonlinear systems is achieved through feedback linearziation and the linear consensus algorithm. Moreover this result is verified through the simulation for consensus of robot manipulators with nonlinear dynamics.
Taekyung Lee Hyo-Sung Ahn
Distributed Control and Autonomous Systems Laboratory, Department of mechatronics, Gwangju Institute of Science and Technology (GIST), Korea
国际会议
青岛
英文
26-31
2010-07-15（万方平台首次上网日期，不代表论文的发表时间）