Nonlinear control of mechanical systems with an unactuated cyclic variable
نویسندگان
چکیده
منابع مشابه
Output Feedback Variable Structure-like Control of Nonlinear Mechanical Systems
In this paper, we develop a new output feedback, variable structure-like (discontinuous) tracking controller for a class of uncertain, nonlinear, multiinput multi-output, mechanical systems whose dynamics are Þrst-order differentiable. A novel Þlter design and Lyapunov-type stability analysis are used to prove semi-global asymptotic tracking. As a by-product of the proposed framework, we also p...
متن کاملNonlinear Control and Reduction of Underactuated Systems with Symmetry II: Unactuated Shape Variables Case
In this paper, we address nonlinear control and reduction of two classes of high-order underactuated mechanical systems with kinetic symmetry called Class-II and Class-III systems. Class-II systems are underactuated systems with unactuated shape variables, decoupled inputs, and integrable normalized momentums (all to be defined). We show that all Class-II underactuated systems can be transforme...
متن کاملA Variable Structure Observer Based Control Design for a Class of Large scale MIMO Nonlinear Systems
This paper fully discusses how to design an observer based decentralized fuzzy adaptive controller for a class of large scale multivariable non-canonical nonlinear systems with unknown functions of subsystems’ states. On-line tuning mechanisms to adjust both the parameters of the direct adaptive controller and observer that guarantee the ultimately boundedness of both the tracking error and tha...
متن کاملPotentials of Evolving Linear Models in Tracking Control Design for Nonlinear Variable Structure Systems
Evolving models have found applications in many real world systems. In this paper, potentials of the Evolving Linear Models (ELMs) in tracking control design for nonlinear variable structure systems are introduced. At first, an ELM is introduced as a dynamic single input, single output (SISO) linear model whose parameters as well as dynamic orders of input and output signals can change through ...
متن کاملControl of Mechanical Systems with Variable Degrees of Freedom
Many mechanical systems can change dimension. r θ l k/2 k/2 y v u v m φ Body 2 1 m v v θ Rake x l θ We are primarily concerned with the problem of determining controllability and the motion planning problem. Slide 1 This motivational slide is intended to illustrate two main points: • Changing dimensions is common, and • There is a natural kinematic/dynamic dichotomy in such problems, which will...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2005
ISSN: 0018-9286
DOI: 10.1109/tac.2005.847057