Right-invertibility for a class of nonlinear control systems: A geometric approach

In recent years it has become evident that various synthesis problems known from linear system theory can also be solved for nonlinear control systems by using differential geometric methods. The purpose of this paper is to use this mathematical framework for giving a preliminary account on the notion of right-invertibility of a nonlinear system. This concept, which is of importance in several tracking problems, requires a Taylor-series expansion of the output function. We will also show that there is an appealing geometric interpretation of the lower-order terms in this series expansion. In this way a function that can occur as output function of a nonlinear system is partly described by specifying its k-jet

Input-output decoupling of Hamiltonian systems: The linear case

In this note we give necessary and sufficient conditions for a linear Hamiltonian system to be input-output decouplable by Hamiltonian feedback, i.e. feedback that preserves the Hamiltonian structure. In a second paper we treat the same problem for nonlinear Hamiltonian systems

Feedback decomposition of nonlinear control systems

By using the recently developed (differential) geometric approach to nonlinear systems, a feedback decomposion for nonlinear control systems is derived

On dynamic decoupling and dynamic path controllability in economic systems

In this paper the dynamic decouplability and dynamic path controllability of nonlinear discrete-time economic systems in state space form are discussed. Based on the observation that both properties are equivalent, a (theoretical) efficient way of target path controllability is proposed. This is illustrated for a fairly general example of a closed economy

On synchronization of chaotic systems

This paper deals with the problem of synchronization, or observer design, of chaotic dynamical systems. It is argued that the complex nature of the transmitter dynamics may provide additional tools for finding a suitable observer. A number of characteristic examples illustrate the idea, and reveal some challenging open problems in this contex

Global regulation of robots using only position measurements

In this note we propose a simple solution to the regulation problem of rigid robots based on the availability of only joint position measurements. The controller consists of two parts: (1) a gravitation compensation, (2) a linear dynamic first-order compensator. The gravitation compensation part can be chosen to be a function of either the actual joint position or the desired joint position. Both possibilities are aproved to yield global asymptotic stability. Performance issues of the controller are illustrated in a simulation study of a two degrees-of-freedom robot manipulator

Controllability distributions and systems approximations: a geometric approach

Given a nonlinear system, a relation between controllability distributions defined for a nonlinear system and a Taylor series approximation of it is determined. Special attention is given to this relation at the equilibrium. It is known from nonlinear control theory that the solvability conditions as well as the solutions to some control synthesis problems can be stated in terms of geometric concepts like controlled invariant (controllability) distributions. By dealing with a k-th Taylor series approximation of the system, the authors are able to decide when the solvability conditions of these kinds of problem are equivalent for the nonlinear system and its approximation. Some cases when the solution obtained from the approximated system is an approximation of an exact solution for the original problem are distinguished. Some examples illustrate the result

Controllability distributions and systems approximations: a geometric approach

Given a nonlinear system we determine a relation at an equilibrium between controllability distributions defined for a nonlinear system and a Taylor series approximation of it. The value of such a relation is appreciated if we recall that the solvability conditions as well as the solutions to some control synthesis problems can be stated in terms of geometric concepts like controlled invariant (controllability) distributions. The relation between these distributions at the equilibrium will help us to decide when the solvability conditions of this kind of problems are equivalent for the nonlinear system and its approximatio

On the stabilization of bilinear systems via constant feedback

We study the problem of stabilization of a bilinear system via a constant feedback. The question reduces to an eigenvalue problem on the pencil A+α0B of two matrices. Using the idea of simultaneous triangularization of the matrices involved, some easily checkable conditions for the solvability of this question are obtained. Algorithms for checking these conditions are given and illustrated by a few examples