This paper considers a problem to transfer a trajectory from one zero dynamics submanifold to another one in finite time, for a time-invariant nonlinear system. In general, it is preferred to keep a trajectory on a zero dynamics submanifold when partial feedback linearazation is applied to. Hence, this paper proposes a method to keep a trajectory on zero dynamics submanifold during the transfer by using time-varying zero dynamics submanifold. Main contribution is to develop the condition for time-varying linearizing coordinate to connect two zero dynamics submanifolds with the same dimension. The validity of the controller based on the proposed method is verified via numerical simulations of mono-rotor unmanned aerial vehicle(UAV)system and
Acrobot system.
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