Full state feedback linearization for a haulage trolley system: a novel differentiable manifold approach

The manuscript presents a manifold-based full-state linearization for a haulage trolley. The key result from the manifold approach is representing the linearized system as a function of the tangent vectors of the nonlinear system. The haulage trolley is linearized, and the system's performance is studied. Three case studies are interrogated; the nonlinear system, a regulator control problem, and a tracking control problem. A settling time of 2 s is set for the control problem, and a reference is set to 1 rad/s for the tracking problem. The results confirm that linear control methods work on the controllable linearized haulage trolley system.Copyright (c) 2023 The Authors.