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

doi:10.1109/ACCESS.2019.2963052

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 publication › Journal article › Academic research › peer-review

3 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 language	English
Pages (from-to)	20725-20734
Number of pages	10
Journal	IEEE Access
Volume	8
DOIs	https://doi.org/10.1109/ACCESS.2019.2963052
Publication status	Published - 30 Dec 2019

Keywords

contraction analysis
fully-actuated system
Increment
robust control

ASJC Scopus subject areas

General Computer Science
General Materials Science
General Engineering

More information

10.1109/ACCESS.2019.2963052

http://hdl.handle.net/10397/82325

Cite this

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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.",

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T1 - An incremental feedback control for uncertain mechanical system

AU - Zhang, Guo

AU - He, Ping

AU - Li, Heng

AU - Liu, Huan

AU - Xiong, Xing Zhong

AU - Wei, Zhouchao

AU - Wei, Wei

AU - Li, Yangmin

PY - 2019/12/30

Y1 - 2019/12/30

N2 - 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.

AB - 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.

KW - contraction analysis

KW - fully-actuated system

KW - Increment

KW - robust control

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SP - 20725

EP - 20734

JO - IEEE Access

JF - IEEE Access

ER -

An incremental feedback control for uncertain mechanical system

Abstract

Keywords

ASJC Scopus subject areas

More information

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