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Consensus of nonlinear system using feedback linearization

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2 Author(s)
Taekyung Lee ; Dept. of Mechatron., Gwangju Inst. of Sci. & Technol. (GIST), Gwangju, South Korea ; Hyo-Sung Ahn

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 linearization and the linear consensus algorithm. Moreover this result is verified through the simulation for consensus of robot manipulators with nonlinear dynamics.

Published in:

Mechatronics and Embedded Systems and Applications (MESA), 2010 IEEE/ASME International Conference on

Date of Conference:

15-17 July 2010

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