Naslov
Robust Decentralized Global Asymptotic Tracking Control of a Class of Nonlinear Mechanical Systems

Autori
Kasać, Josip ; Žilić, Tihomir ; Milić, Vladimir ; Jokić, Andrej ; Lobrović, Mihael

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
2016 American Control Conference / - Boston (MA) : American Association for Clinical Chemistry (AACC), 2016, 4731-4736

ISBN
978-1-4673-8681-4

Skup
2016 American Control Conference

Mjesto i datum
Boston (MA), Sjedinjene Američke Države, 06.07.2016. - 08.07.2016

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
nonlinear mechanical systems ; decentralized control ; sliding-PID control ; chattering-free control

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

POVEZANOST RADA