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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| Published in | 自动化学报 Vol. 40; no. 5; pp. 875 - 882 |
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| Main Author | |
| Format | Journal Article |
| Language | Chinese |
| Published |
2014
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| Subjects | |
| Online Access | Get full text |
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| Abstract | 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. |
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| AbstractList | 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. |
| Author | ZHEN Sheng-Chao ZHAO Han CHEN Ye-Hwa HUANG Kang |
| AuthorAffiliation | School of Mechanical and Automotive Engineering, Hefei University of Technology, Hefei 230009, China The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Georgia 30332, USA |
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| DocumentTitleAlternate | A New Lyapunov Based Robust Control for Uncertain Mechanical Systems |
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| Notes | 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 |
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| PublicationTitle | 自动化学报 |
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| Snippet | 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... |
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| SubjectTerms | 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 |
| Title | A New Lyapunov Based Robust Control for Uncertain Mechanical Systems |
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