This paper presents a novel and general method for control design of linear or nonlinear mechanical systems subject to disturbances and uncertainties. This method easily allows determining simple and robust control laws which force a mechanical system to track a target trajectory, with bounded acceleration, with prefixed maximum position and velocity errors and fixed maximum convergence velocity. Method efficiency is illustrated by designing a decoupled control law, like PD control, for a three-link planar robot which has the task of periodically doing some work on given points of a rotating object.
A General and Efficient Robust Control Method for Uncertain Nonlinear Mechanical Systems / Celentano, Laura. - 1-8:(2005), pp. 659-665. (Intervento presentato al convegno CDC-ECC05, 44th IEEE Conference on Decision and Control and European Control Conference 2005 tenutosi a Seville, Spain nel 12-15 December 2005) [10.1109/CDC.2005.1582231].
A General and Efficient Robust Control Method for Uncertain Nonlinear Mechanical Systems
CELENTANO, LAURA
2005
Abstract
This paper presents a novel and general method for control design of linear or nonlinear mechanical systems subject to disturbances and uncertainties. This method easily allows determining simple and robust control laws which force a mechanical system to track a target trajectory, with bounded acceleration, with prefixed maximum position and velocity errors and fixed maximum convergence velocity. Method efficiency is illustrated by designing a decoupled control law, like PD control, for a three-link planar robot which has the task of periodically doing some work on given points of a rotating object.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
