Parametric uncertainty handling of under-actuated nonlinear systems using an online optimal input–output feedback linearization controller
This research introduces a new online optimal control based on the input–output feedback linearization and a multi-crossover genetic algorithm for under-actuated nonlinear systems having parametric uncertainties. At first, the input–output feedback linearization method is successfully implemented to...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Taylor & Francis Group
2021-01-01
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| Series: | Systems Science & Control Engineering |
| Subjects: | |
| Online Access: | http://dx.doi.org/10.1080/21642583.2021.1891993 |
| _version_ | 1831713566633230336 |
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| author | M. J. Mahmoodabadi M. Andalib Sahnehsaraei |
| author_facet | M. J. Mahmoodabadi M. Andalib Sahnehsaraei |
| author_sort | M. J. Mahmoodabadi |
| collection | DOAJ |
| description | This research introduces a new online optimal control based on the input–output feedback linearization and a multi-crossover genetic algorithm for under-actuated nonlinear systems having parametric uncertainties. At first, the input–output feedback linearization method is successfully implemented to derive the control law for a two degrees of freedom cart-pole nonlinear system. Then, the regarded optimization algorithm is applied to find the design parameters of the controller for different values of the uncertain variables. Next, an approximation function is suggested to calculate the optimum gains of the controller in the presence of the uncertainties in the system parameters. The simulation results are illustrated to prove the effectiveness and adeptness of the introduced scenario to overcome some common issues in the actual systems, i.e. under-actuating nonlinearities and uncertainties. |
| first_indexed | 2024-12-20T23:42:18Z |
| format | Article |
| id | doaj.art-de84d63449af4891886be40f497920c3 |
| institution | Directory Open Access Journal |
| issn | 2164-2583 |
| language | English |
| last_indexed | 2024-12-20T23:42:18Z |
| publishDate | 2021-01-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | Systems Science & Control Engineering |
| spelling | doaj.art-de84d63449af4891886be40f497920c32022-12-21T19:23:02ZengTaylor & Francis GroupSystems Science & Control Engineering2164-25832021-01-019120921810.1080/21642583.2021.18919931891993Parametric uncertainty handling of under-actuated nonlinear systems using an online optimal input–output feedback linearization controllerM. J. Mahmoodabadi0M. Andalib Sahnehsaraei1Sirjan University of TechnologyNational Iranian Gas Company (NIGC)This research introduces a new online optimal control based on the input–output feedback linearization and a multi-crossover genetic algorithm for under-actuated nonlinear systems having parametric uncertainties. At first, the input–output feedback linearization method is successfully implemented to derive the control law for a two degrees of freedom cart-pole nonlinear system. Then, the regarded optimization algorithm is applied to find the design parameters of the controller for different values of the uncertain variables. Next, an approximation function is suggested to calculate the optimum gains of the controller in the presence of the uncertainties in the system parameters. The simulation results are illustrated to prove the effectiveness and adeptness of the introduced scenario to overcome some common issues in the actual systems, i.e. under-actuating nonlinearities and uncertainties.http://dx.doi.org/10.1080/21642583.2021.1891993online optimal controlinput–output feedback linearizationmulti-crossovercart-pole nonlinear systemparametric uncertainty |
| spellingShingle | M. J. Mahmoodabadi M. Andalib Sahnehsaraei Parametric uncertainty handling of under-actuated nonlinear systems using an online optimal input–output feedback linearization controller Systems Science & Control Engineering online optimal control input–output feedback linearization multi-crossover cart-pole nonlinear system parametric uncertainty |
| title | Parametric uncertainty handling of under-actuated nonlinear systems using an online optimal input–output feedback linearization controller |
| title_full | Parametric uncertainty handling of under-actuated nonlinear systems using an online optimal input–output feedback linearization controller |
| title_fullStr | Parametric uncertainty handling of under-actuated nonlinear systems using an online optimal input–output feedback linearization controller |
| title_full_unstemmed | Parametric uncertainty handling of under-actuated nonlinear systems using an online optimal input–output feedback linearization controller |
| title_short | Parametric uncertainty handling of under-actuated nonlinear systems using an online optimal input–output feedback linearization controller |
| title_sort | parametric uncertainty handling of under actuated nonlinear systems using an online optimal input output feedback linearization controller |
| topic | online optimal control input–output feedback linearization multi-crossover cart-pole nonlinear system parametric uncertainty |
| url | http://dx.doi.org/10.1080/21642583.2021.1891993 |
| work_keys_str_mv | AT mjmahmoodabadi parametricuncertaintyhandlingofunderactuatednonlinearsystemsusinganonlineoptimalinputoutputfeedbacklinearizationcontroller AT mandalibsahnehsaraei parametricuncertaintyhandlingofunderactuatednonlinearsystemsusinganonlineoptimalinputoutputfeedbacklinearizationcontroller |