非線形状態フィードバックによる線形化を考慮した線形ロバスト補償器の設計および安定解析

抄録

This paper is concerned with design and stability analysis for a class of nonlinear systems which are exactly linearizable via nonlinear state-feedback only. First, a modeling method for linearized systems is given, which reflects the uncertainties of both the physical parameters of the original nonlinear systems and the state-dependent nonlinear terms in a non-conservative way by using linear fractional representation. Second, a sufficient condition for the stability is given for the closed-loop system, which consists of linearized system and linear compensator, in the presence of parameter variations. Third, the effectiveness of the proposed method is evaluated by experiments on tracking control using a three-link DD manipulator.