摘要:

A sufficient condition for linear system stability under parameter variations is presented. It yields parameter bounds which are not conservative and the test is easily implemented on a digital computer.

ISSN:0020-7179    

DOI:10.1080/00207178308933087

出版商:Taylor & Francis Group    

年代:1983

数据来源: Taylor

摘要:

A methodology of feedback control is developed to achieve accurate tracking in a. class of non-linear, time-varying systems in the presence of disturbances and para meter variations. The methodology uses in its idealized form piecewise continuous feedback control, resulting in the state trajectory sliding along a time-varying sliding surface in the state space. This idealized control law achieves perfect tracking; however, non-idealities in its implementation result in the generation of an undesirable high-frequency component in the state trajectory. To rectify this, it is shown how continuous control laws may be used to approximate the discontinuous control law to obtain robust tracking to within a prescribed accuracy without generating undesirable high-frequency signal. The method is applied to the control of a two-link manipulator handling variable loads in a flexible manufacturing system environment.

ISSN:0020-7179    

DOI:10.1080/00207178308933088

出版商:Taylor & Francis Group    

年代:1983

数据来源: Taylor

ISSN:0020-7179    

DOI:10.1080/00207178308933089

出版商:Taylor & Francis Group    

年代:1983

数据来源: Taylor