Control of a class of nonlinear uncertain systems via compensated inverse dynamics approach

Author

Song, Y.D. ; Mitchell, T.L. ; Lai, H.Y.

Author_Institution

Dept. of Electr. Eng., North Carolina A&T State Univ., Greensboro, NC, USA

Volume

39

Issue

9

fYear

1994

fDate

9/1/1994 12:00:00 AM

Firstpage

1866

Lastpage

1871

Abstract

The tracking control problem of a class of nonlinear systems via inverse dynamics method is addressed. The motivation for the study stems from the need to control practical systems arising from aerospace and mechanical engineering. Because modeling uncertainties and external disturbances are always present in these systems, inverse dynamics technique is not applicable directly. A compensated inverse dynamics approach is proposed to account for the effect of uncertainties. The compensation is achieved by adaptive and robust schemes. Application of the proposed strategy to the vibration suppression of a two-bay flexible truss structure is presented

Keywords

adaptive control; compensation; nonlinear systems; stability; tracking; vibration control; adaptive control; compensated inverse dynamics; compensation; external disturbances; modeling uncertainties; nonlinear uncertain systems; robust control; tracking control; two-bay flexible truss structure; vibration suppression; Aerodynamics; Aerospace control; Aerospace engineering; Control systems; Mechanical engineering; Nonlinear control systems; Nonlinear systems; Robustness; Uncertain systems; Uncertainty;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.317114

Filename

317114