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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Robust Decentralized Global Asymptotic Tracking Control of a Class of Nonlinear Mechanical Systems.pdf - Published Version Jezik dokumenta:English Download (610kB) | Preview |
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) |
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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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