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Numerically efficient trajectory tracking control of polynomic nonlinear systems

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1 Author(s)
Madhavan, R. ; Dept. of Mech. & Mechatronic Eng., Sydney Univ., NSW, Australia

This paper proposes a numerically efficient tracking controller for polynomic nonlinear systems by a combined Volterra series and an extended Kalman filtering approach. The developed state estimation approach is applied for the state estimation of the states of a pendulum model, and the tracking control of the pendulum is accomplished by utilizing the internal model principle and the feedback linearization method. It is demonstrated that this approach is more numerically efficient as compared to the standard extended Kalman filtering approach and thus also leads to a numerically efficient control scheme

Published in:

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:4 )

Date of Conference:

1999

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