On Differential Geometric Approach to Nonlinear Systems Affine in Control
Xinmin Liu
TL;DR
This paper explores a differential geometric framework for analyzing nonlinear control-affine systems, developing normal forms and addressing stabilization and disturbance attenuation problems.
Contribution
It introduces a differential geometric approach with new normal forms for nonlinear control-affine systems, enabling improved stabilization and disturbance handling.
Findings
Normal forms for control-affine systems are established.
Global and semi-global stabilization methods are developed.
Disturbance attenuation techniques are proposed.
Abstract
The note focuses on the differential geometric approach to the study of nonlinear systems that are affine in control. We first develop normal forms for nonlinear system affine in control. Based on these normal forms, we then address the problems of global stabilization, semi-global stabilization and disturbance attenuation.
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Taxonomy
TopicsAdaptive Control of Nonlinear Systems · Control and Dynamics of Mobile Robots · Dynamics and Control of Mechanical Systems