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Stability Analysis of a Feedback-linearization-based Controller with Saturation: A Tilt Vehicle with the Penguin-inspired Gait Plan
Saturations in control signal can challenge the stability proof of a feedback-linearization-based controller, even leading the system unstable [1].
State Drift and Gait Plan in Feedback Linearization Control of A Tilt Vehicle
In this research, we put forward a unique fictional vehicle with tilt structure, which is to help evaluate the property of the tilt-structure-aimed controllers.
Singular Zone in Quadrotor Yaw-Position Feedback Linearization
It is well known that the conventional quadrotor is an under-actuated MIMO system.
The Pareto-frontier-based Stiffness of A Controller: Trade-off between Trajectory Plan and Controller Design
Specially, the unavoidable dynamic state error is considered in the trajectory plan process, assuming the LQR without the feed-forward is applied in the subsequent control after plan problems.
A Novel Formula Calculating the Dynamic State Error and Its Application in UAV Tracking Control Problem
This paper gives a novel formula (Copenhagen Limit) to calculate/estimate the dynamic state error of a system without a feedforward signal.
Stability-Certified Reinforcement Learning via Spectral Normalization
While explicitly including the stability condition, the first method may provide an insufficient performance on the neural network controller due to its strict stability condition.
