摘要：Aim To present a simple and effective method for the design of nonlinear and time varying control system. Methods A new concept of dynamic equilibrium of a system and its stability were presented first. It was pointed out that what is controlled directly by the input of a control system is the system's dynamic equilibrium rather than the states. Based on it, a new feedback linearization method for nonlinear system based on the Lyapunov direct method was given. Simulation studies were also carried out. Results The example and simulation show that by use of the method, the controller design becomes very simple and the control effect is quite satisfying. Conclusion The new method unifies the stabilizing problem(regulating problem) with the tracking problem. It is a very simple and effective method for the design of nonlinear and time varying control system.

摘要：This paper presents a novel adaptive nonlinear model predictive control design for trajectory tracking of flexible-link manipulators consisting of feedback linearization, linear model predictive control, and unscented Kalman filtering. Reducing the nonlinear system to a linear system by feedback linearization simplifies the optimization problem of the model predictive controller significantly, which, however, is no longer linear in the presence of parameter uncertainties and can potentially lead to an undesired dynamical behaviour. An unscented Kalman filter is used to approximate the dynamics of the prediction model by an online parameter estimation, which leads to an adaptation of the optimization problem in each time step and thus to a better prediction and an improved input action. Finally, a detailed fuzzy-arithmetic analysis is performed in order to quantify the effect of the uncertainties on the control structure and to derive robustness assessments. The control structure is applied to a serial manipulator with two flexible links containing uncertain model parameters and acting in three-dimensional space.

摘要：The advantages of permanent magnet linear synchronous motors （PMLSM） include high speed and good motion precision compared with rotary motors. However, PMLSM are sensitive to uncertainties such as the parameter perturbations and end effect etc. A new nonlinear robust scheme of PMLSM is proposed to overcome this trouble. First, a quasi-linearized and deeoupled model with uncertainties is derived from the mathematical model of PMLSM by using the conception of feedback linearization. Then a fixed-boundary-layer sliding mode controller using the m sat function is designed to guarantee the robustness. Design of a force observer is given to estimate the load force unknown in the new model. Finally, the validity of the proposed strategy compared with the conventional PID control scheme is proved by the DSpobased experimental results.

摘要：In recent years,unmanned aerial vehicles(UAVs)have acquired an increasing interest due to their wide range of applications in military,scientific,and civilian *** of the quadcopter limitations is its lack of full actuation property which limits its mobility and trajectory tracking *** this work,an overactuated quadcopter design and control,which allows independent tilting of the rotors around their arm axis,is *** with this added tilting mechanism makes it possible to overcome the aforementioned mobility limitation by achieving full authority on torque and force *** tilting property increases the control inputs to 8(the 4 propeller rotation speed plus the 4 rotor tilting angles)which gives a full control on the quadcopter *** mathematical model for the tilt rotor quadcopter is derived based on the Newton-Euler ***,the feedback linearization method is used to linearize the model and a mixed sensitivity H∞optimal controller is then designed and synthesized to achieve the required performance and *** controlled system is simulated to assure the validity of the proposed controller and the quadcopter *** controller is tested for its effectiveness in rejecting disturbances,attenuating sensor noise,and coping with the model ***,a complicated trajectory is examined in which the tilt rotor quadcopter has been successfully *** test results show the supremacy of the overactuated quadcopter over the traditional one.