An incremental feedback control for uncertain mechanical system

Guo Zhang, Ping He, Heng Li, Huan Liu, Xing Zhong Xiong, Zhouchao Wei, Wei Wei, Yangmin Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review

2 Citations (Scopus)

Abstract

This paper focuses on the tracking problem for fully-actuated mechanical systems with uncertain parameters and external disturbances. Based on the state feedback control of contraction analysis, the robust controller with extra gains is suggested to provide for the tracking of mechanical systems with uncertainties. The proposed control scheme can be redesigned with dual ideas and theoretically prove that the robust control renders uniform roundedness. Further more, the inertia matrices being uniformly bounded above are limited. The simulation is proposed to account for the effectiveness and robustness of the provided method.

Original languageEnglish
Article number8945326
Pages (from-to)20725-20734
Number of pages10
JournalIEEE Access
Volume8
DOIs
Publication statusPublished - 30 Dec 2019

Keywords

  • contraction analysis
  • fully-actuated system
  • Increment
  • robust control

ASJC Scopus subject areas

  • Computer Science(all)
  • Materials Science(all)
  • Engineering(all)

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