Robust trajectory tracking control for uncertain mechanical systems: servo constraint-following and adaptation mechanism

• Published in: International journal of control Vol. 93; no. 7; pp. 1696 - 1709
• Main Authors: Zhao, Ruiying, Chen, Ye-Hwa, Wu, Linlin, Pan, Muxuan
• Format: Journal Article
• Language: English
• Published: Abingdon Taylor & Francis 02.07.2020; Taylor & Francis Ltd
• Subjects: Adaptation; constraint-following; Control systems; Mechanical system; Mechanical systems; Robust control; Tracking control; Trajectory control; trajectory tracking; uniform ultimate boundedness
• ISSN: 0020-7179; 1366-5820
• DOI: 10.1080/00207179.2018.1528386

The paper proposes a novel trajectory tracking control for uncertain mechanical systems. We reformulate the trajectory tracking control as a constraint-following problem. A new set of servo constraints are constructed to fulfill the requirement of trajectory tracking. By the advantage of the second-order form of constraints, the constraint forces required in the constraint-following are derived in an explicit form. The uncertainty considered in the mechanical system is time-varying and bounded. But the bound is unknown. An adaptation mechanism with leakage and dead-zone is designed. Based on the adaptation, a new class of robust control is proposed. The performance of the resulting controlled system, including uniform boundedness and uniform ultimate boundedness, is guaranteed.