Recursive Input-Output Linearization for Slow-Fast Realization of Nonholonomic Hamiltonian Control Systems

In this article, we study a slow-fast realization of nonholonomic Hamiltonian control systems mediated by strong friction forces which is viewed as a singular perturbation of the nonholonomic system. We propose a systematic decomposition of the perturbed dynamics into slow and fast directions using...

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Bibliographic Details
Published in:IEEE transactions on automatic control Vol. 70; no. 6; pp. 3571 - 3586
Main Authors: Gzenda, Vaughn, Chhabra, Robin
Format: Journal Article
Language:English
Published: New York IEEE 01.06.2025
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Aerospace electronics
Approximation
Closed loops
Control systems
Control theory
Dynamics
Exact solutions
Feedback linearization
Friction
Invariance
Invariants
Kinetic energy
Linearization
Manifolds
Manifolds (mathematics)
mobile robots
nonlinear dynamical systems
Partial differential equations
Perturbation methods
Power series
Proportional derivative
Robot kinematics
Robots
Singular perturbation
Stability analysis
Tracking problem
Vehicle dynamics
ISSN:0018-9286, 1558-2523
Online Access:Get full text
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Summary:In this article, we study a slow-fast realization of nonholonomic Hamiltonian control systems mediated by strong friction forces which is viewed as a singular perturbation of the nonholonomic system. We propose a systematic decomposition of the perturbed dynamics into slow and fast directions using the kinetic energy metric and the geometry of friction forces. The (slow) invariant manifold is identified by a set of invariance conditions resulting in partial differential equations that generally do not have an analytic solution. We approximate the invariant manifold along with the control inputs with power series and show that using this approximation the invariance conditions admit an inherent recursion. Accordingly, we develop a recursive procedure to perform dynamic input-output linearization of the approximated slow system. We consider the output trajectory tracking problem using a proportional derivative (PD) control law on the <inline-formula><tex-math notation="LaTeX">N{\text{th}}</tex-math></inline-formula>-order approximation of the invariant manifold. Closed-loop stability analysis is performed on both the invariant manifold and the full-phase space of the system. We prove that if the internal dynamics of the nonholonomic system is exponentially stable, then the perturbed system remains asymptotically stable. Moreover, we prove that the output error dynamics is uniformly bounded when applying the approximated control law, with bounds dependent on the control gains and strength of the friction force. Our approach is illustrated through a numerical case study on a differential robot.
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ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2024.3510174