Robust control for third-order electro-mechanical systems with partially unknown dynamics under state constraints

This work presents the design of a control trajec-tory algorithm based on Barrier Lyapunov functions (BLF) for a class of third-order electro-mechanical systems. The method considers unknown control gains and uncertain plant parame-ters, a common problem in control engineering applications. In order...

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Bibliographic Details
Published in2022 8th International Conference on Control, Decision and Information Technologies (CoDIT) Vol. 1; pp. 1037 - 1042
Main Authors Lozano, Alejandro, Ballesteros, Mariana, Cruz-Ortiz, David, Salgado, Ivan, Huegel, Joel C., Chairez, Isaac
Format Conference Proceeding
LanguageEnglish
Published IEEE 17.05.2022
Subjects
backstepping control
Barrier Lyapunov functions
Electromechanical systems
Information technology
Nassbaum functions
PD control
Perturbation methods
Robust control
Trajectory
Trajectory tracking
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Summary:This work presents the design of a control trajec-tory algorithm based on Barrier Lyapunov functions (BLF) for a class of third-order electro-mechanical systems. The method considers unknown control gains and uncertain plant parame-ters, a common problem in control engineering applications. In order to deal with the uncertain parameters, this study proposes a backstepping adaptive strategy applying Nussbaum functions to know the sign of the control gains. The BLF imposes partial constraints to keep the trajectories of the system inside a safe operation set. The proposed controller is tested in a virtual one-link robotic manipulator including actuator dynamics to develop an adequate trajectory tracking. The maximum tracking error norm was 0.02, which fulfilled the maximum constrained bound of 0.5.
ISSN:2576-3555
DOI:10.1109/CoDIT55151.2022.9804099