A robustH∞model reference tracking design for non-holonomic mechanical control systems
作者:
BOR-SEN CHEN,
TZANN-SHIN LEE,
WEI-SHENG CHANG,
期刊:
International Journal of Control
(Taylor Available online 1996)
卷期:
Volume 63,
issue 2
页码: 283-306
ISSN:0020-7179
年代: 1996
DOI:10.1080/00207179608921844
出版商: Taylor & Francis Group
数据来源: Taylor
摘要:
We propose a robust model reference tracking control design for non-holonomic mechanical systems under parametric perturbation and external disturbance. A design procedure with three-stage control is developed to solve the robust tracking problem for perturbative non-holonomic mechanical control systems. In the first stage, by a proper choice of transformation matrix, the perturbative non-holonomic mechanical system is transformed into a reduced form of non-holonomic mechanical system for the convenience of control design. In the second stage, based on the concept of ‘input/output decoupling’ in nonlinear control theory, a decoupled system with parameter perturbation and external disturbance is established via a nonlinear dynamic state feedback control. In the third stage,H ∞ criteria to specify desired model reference tracking performance in the face of parametric perturbation and external disturbance are proposed for the decoupled system.H ∞ controllers that achieve theseH ∞ tracking performance are also explicitly constructed. Finally, two typical non-holonomic examples—a knife edge and a vertical wheel moving on a given plane—are given with computer simulation to illustrate the significant advantages of the proposed method.
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