Robust decentralized global asymptotic tracking control of a class of nonlinear mechanical systems

Kasać, Josip and Žilić, Tihomir and Milić, Vladimir and Jokić, Andrej and Lobrović, Mihael (2016) Robust decentralized global asymptotic tracking control of a class of nonlinear mechanical systems. = Robust decentralized global asymptotic tracking control of a class of nonlinear mechanical systems. In: 2016 American Control Conference, ACC 2016, 06-08.07.2016., Boston, SAD.

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Abstract

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.

Item Type:	Conference or Workshop Item (Lecture)
Keywords (Croatian):	nonlinear mechanical systems; decentralized control; sliding-PID control; chattering-free control
Subjects:	TECHNICAL SCIENCE > Mechanical Engineering
Divisions:	900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Indexed in Web of Science:	Yes
Indexed in Current Contents:	No
Citations JCR:	0 (14.09.2018.)
Date Deposited:	19 Apr 2017 09:20
Last Modified:	26 Nov 2018 14:50
URI:	http://repozitorij.fsb.hr/id/eprint/7697

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