By Topic

Consensus of nonlinear system using feedback linearization

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

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