Trajectory Tracking Control Design of a Mass-Damping-Spring System with Uncertainty using the Bond Graph Approach

Abstract

This paper deals with the simulation, and design of a trajectory-tracking control law for a physical system under parameter uncertainty modeled by a bond graph. This control strategy is based on the inversion of the system through their causal Input/Output (I/O) path using the principle of bicausality to track the desired trajectory. The proposed control strategy is validated with the use of a simple mechanical mass-spring-damper system. The results show that the bond graph is a very helpful methodology for the design of control laws in the presence of uncertainties. This proposed control can be applied in several applications and can be improved to ensure robust control.