A New Lyapunov Based Robust Control for Uncertain Mechanical Systems

We design a new robust controller for uncertain mechanical systems. The inertia matrix＇s singularity and upper bound property are first analyzed. It is shown that the inertia matrix may be positive semi-definite due to over-simplified model. Furthermore, the inertia matrixes being uniformly bounded...

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Bibliographic Details
Published in自动化学报 Vol. 40; no. 5; pp. 875 - 882
Main Author ZHEN Sheng-Chao ZHAO Han CHEN Ye-Hwa HUANG Kang
Format Journal Article
LanguageChinese
Published 2014
Subjects
Lyapunov
一致最终有界
一致有界
仿真结果
惯性矩阵
机械系统
系统不确定性
鲁棒控制器
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Summary:We design a new robust controller for uncertain mechanical systems. The inertia matrix＇s singularity and upper bound property are first analyzed. It is shown that the inertia matrix may be positive semi-definite due to over-simplified model. Furthermore, the inertia matrixes being uniformly bounded above is also limited. A robust controller is proposed to suppress the effect of uncertainty in mechanical systems with the assumption of uniform positive definiteness and upper bound of the inertia matrix. We theoretically prove that the robust control renders uniform boundedness and uniform ultimate boundedness. The size of the ultimate boundedness ball can be made arbitrarily small by the designer. Simulation results are presented and discussed.
Bibliography:Inertia matrix, mechanical system, robust control, uncertainty
We design a new robust controller for uncertain mechanical systems. The inertia matrix＇s singularity and upper bound property are first analyzed. It is shown that the inertia matrix may be positive semi-definite due to over-simplified model. Furthermore, the inertia matrixes being uniformly bounded above is also limited. A robust controller is proposed to suppress the effect of uncertainty in mechanical systems with the assumption of uniform positive definiteness and upper bound of the inertia matrix. We theoretically prove that the robust control renders uniform boundedness and uniform ultimate boundedness. The size of the ultimate boundedness ball can be made arbitrarily small by the designer. Simulation results are presented and discussed.
11-2109/TP
ISSN:0254-4156
1874-1029