Parametric uncertainty handling of under-actuated nonlinear systems using an online optimal input-output feedback linearization controller

• Published in: Systems science & control engineering Vol. 9; no. 1; pp. 209 - 218
• Main Authors: Mahmoodabadi, M. J., Andalib Sahnehsaraei, M.
• Format: Journal Article
• Language: English
• Published: Macclesfield Taylor & Francis 01.01.2021; Taylor & Francis Ltd; Taylor & Francis Group
• Subjects: Approximation; cart-pole nonlinear system; Control systems design; Control theory; Controllers; Design parameters; Feedback linearization; Genetic algorithms; input-output feedback linearization; multi-crossover; Nonlinear systems; Nonlinearity; Online optimal control; Open access publishing; Optimal control; Optimization; Output feedback; parametric uncertainty; Systems science; Uncertainty

This research introduces a new online optimal control based on the input-output feedback linearization and a multi-crossover genetic algorithm for under-actuated nonlinear systems having parametric uncertainties. At first, the input-output feedback linearization method is successfully implemented to...