English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Traditional Input-Output Feedback Linearization (IOFL) requires fullknowledge of system dynamics and assumes no disturbance at the input channeland no system's uncertainties. In this paper, a model-free Active Input-OutputFeedback Linearization (AIOFL) technique based on an Improved ActiveDisturbance Rejection Control (IADRC) paradigm is proposed to design feedbacklinearization control law for a generalized nonlinear system with knownrelative degree. The Linearization Control Law(LCL) is composed of a scaledgeneralized disturbance estimated by an Improved Nonlinear Extended StateObserver (INLESO) with saturation-like behavior and the nominal control lawproduced by an Improved Nonlinear State Error Feedback (INLSEF). The proposedAIOFL cancels in real-time fashion the generalized disturbances which representall the unwanted dynamics, exogenous disturbances, and system uncertainties andtransforms the system into a chain of integrators up to the relative degree ofthe system, the only information required about the nonlinear system. Stabilityanalysis has been conducted based on Lyapunov functions and revealed theconvergence of the INLESO and the asymptotic stability of the closed-loopsystem. Verification of the outcomes has been achieved by applying the proposedAIOFL technique on the Flexible Joint Single Link Manipulator (SLFJM). Thesimulations results validated the effectiveness of the proposed AIOFL toolbased on IADRC as compared to the conventional ADRC based AIOFL and thetraditional IOFL techniques.

Model-Free Active Input-Output Feedback Linearization of a Single-Link Flexible Joint Manipulator: An Improved ADRC Approach