Control of a Class of Mechanical Systems With Uncertainties Via a Constructive Adaptive/Second Order VSC Approach-Reference-Cited by-同舟云学术

Control of a Class of Mechanical Systems With Uncertainties Via a Constructive Adaptive/Second Order VSC Approach

Published:1998-04-27 Issue:1 Volume:122 Page:33-39
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Ferrara A.¹,Giacomini L.²

Affiliation:

1. Department of Computer Engineering and Systems Science, University of Pavia, Via Ferrata 1, 27100 Pavia, Italy

2. Department of Electronic Engineering and Computer Science. Aston University, Aston Triangle, B4 7ET, Birmingham, United Kingdom

Abstract

A wide class of mechanical systems with uncertainties can be modeled through a state equation in parametric-pure-feedback form. Thus, in principle, the well-known backstepping design procedure can be applied to solve a regulation or a tracking problem. Yet, this is no more possible if a clear parametric dependence on the control signal (torque or force) cannot be established. Systems to which this happens can be efficaciously controlled via the proposed approach which inherits n−1 steps of the classical backstepping procedure. This latter procedure is used to attain a partial system state transformation, completed with the construction of a suitable sliding manifold upon which a second order sliding mode is enforced. [S0022-0434(00)01901-8]

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/122/1/33/5643206/33_1.pdf

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