Exact linearization of nonlinear systems: trajectory tracking with bounded controls and state constraints

Abstract

The exact linearization of nonlinear control systems provides a useful method for designing feedback controllers based on the linear model in which the nonlinear plant is transformed. This paper deals with two drawbacks involved in this method when applied to trajectory tracking problems: the control must be bounded, and the evolution of the state variables must lie within a determined region of the state space. Conditions for fulfilling both constraints are given, and an application to a robot manipulator is shown.