Please use this identifier to cite or link to this item:
http://hdl.handle.net/10397/82325
Title: | An incremental feedback control for uncertain mechanical system | Authors: | Zhang, G He, P Li, H Liu, H Xiong, XZ Wei, ZC Wei, W Li, Y |
Issue Date: | 2020 | Source: | IEEE access, 2020, v. 8, p. 20725-20734 | 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. | Keywords: | Increment Contraction analysis Fully-actuated system Robust control |
Publisher: | Institute of Electrical and Electronics Engineers | Journal: | IEEE access | EISSN: | 2169-3536 | DOI: | 10.1109/ACCESS.2019.2963052 | Rights: | This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see http://creativecommons.org/licenses/by/4.0/ The following publication G. Zhang et al., "An Incremental Feedback Control for Uncertain Mechanical System," in IEEE Access, vol. 8, pp. 20725-20734, 2020 is available at https://dx.doi.org/10.1109/ACCESS.2019.2963052 |
Appears in Collections: | Journal/Magazine Article |
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Zhang_Feedback_Control_Uncertain.pdf | 1.07 MB | Adobe PDF | View/Open |
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