Robust Decentralized Global Asymptotic Tracking Control of a Class of Nonlinear Mechanical Systems (CROSBI ID 637713)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Kasać, Josip ; Žilić, Tihomir ; Milić, Vladimir ; Jokić, Andrej ; Lobrović, Mihael
engleski
Robust Decentralized Global Asymptotic Tracking Control of a Class of Nonlinear Mechanical Systems
In this paper, a RISE type of tracking controllers for a class of nonlinear mechanical systems is proposed. The proposed chattering-free controller provides global asymptotic tracking in the presence of external disturbances. The proof of global asymptotic stability is based on a novel approach to the construction of a Lyapunov function which is parameterized by a time-varying function of reference and disturbance vector. The explicit conditions on the controller gains to ensure global asymptotic tracking are obtained. The simulation results on a system of three inverted pendulums interconnected by two springs illustrate the performances of the proposed controller.
nonlinear mechanical systems ; decentralized control ; sliding-PID control ; chattering-free control
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Podaci o prilogu
4731-4736.
2016.
objavljeno
Podaci o matičnoj publikaciji
2016 American Control Conference
Boston (MA): American Association for Clinical Chemistry (AACC)
978-1-4673-8681-4
Podaci o skupu
2016 American Control Conference
predavanje
06.07.2016-08.07.2016
Boston (MA), Sjedinjene Američke Države