An Incremental Feedback Control for Uncertain Mechanical System
This paper focuses on the tracking problem for fully-actuated mechanical systems with uncertain parameters and external disturbances. Based on the state feedback control of contraction analysis, the robust controller with extra gains is suggested to provide for the tracking of mechanical systems wit...
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IEEE
2020-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8945326/ |
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doaj-5512d667efe54603bc720b22b139c1002021-03-30T01:16:30ZengIEEEIEEE Access2169-35362020-01-018207252073410.1109/ACCESS.2019.29630528945326An Incremental Feedback Control for Uncertain Mechanical SystemGuo Zhang0https://orcid.org/0000-0002-3617-5684Ping He1https://orcid.org/0000-0001-7340-9606Heng Li2https://orcid.org/0000-0002-3187-9041Huan Liu3https://orcid.org/0000-0002-0463-5711Xing-Zhong Xiong4https://orcid.org/0000-0002-8091-0906Zhouchao Wei5https://orcid.org/0000-0001-6981-748XWei Wei6https://orcid.org/0000-0002-8751-9205Yangmin Li7https://orcid.org/0000-0002-4448-3310School of Intelligent Systems Science and Engineering (Institute of Physical Internet), Jinan University, Zhuhai, ChinaSchool of Intelligent Systems Science and Engineering (Institute of Physical Internet), Jinan University, Zhuhai, ChinaDepartment of Building and Real Estate, The Hong Kong Polytechnic University, Hong KongDepartment of Building and Real Estate, The Hong Kong Polytechnic University, Hong KongArtificial Intelligence Key Laboratory of Sichuan Province, Sichuan University of Science and Engineering, Zigong, ChinaSchool of Mathematics and Physics, China University of Geosciences, Wuhan, ChinaSchool of Computer Science and Engineering, Xi’an University of Technology, Xi’an, ChinaDepartment of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Hong KongThis paper focuses on the tracking problem for fully-actuated mechanical systems with uncertain parameters and external disturbances. Based on the state feedback control of contraction analysis, the robust controller with extra gains is suggested to provide for the tracking of mechanical systems with uncertainties. The proposed control scheme can be redesigned with dual ideas and theoretically prove that the robust control renders uniform roundedness. Further more, the inertia matrices being uniformly bounded above are limited. The simulation is proposed to account for the effectiveness and robustness of the provided method.https://ieeexplore.ieee.org/document/8945326/Incrementcontraction analysisfully-actuated systemrobust control |
| collection |
DOAJ |
| language |
English |
| format |
Article |
| sources |
DOAJ |
| author |
Guo Zhang Ping He Heng Li Huan Liu Xing-Zhong Xiong Zhouchao Wei Wei Wei Yangmin Li |
| spellingShingle |
Guo Zhang Ping He Heng Li Huan Liu Xing-Zhong Xiong Zhouchao Wei Wei Wei Yangmin Li An Incremental Feedback Control for Uncertain Mechanical System IEEE Access Increment contraction analysis fully-actuated system robust control |
| author_facet |
Guo Zhang Ping He Heng Li Huan Liu Xing-Zhong Xiong Zhouchao Wei Wei Wei Yangmin Li |
| author_sort |
Guo Zhang |
| title |
An Incremental Feedback Control for Uncertain Mechanical System |
| title_short |
An Incremental Feedback Control for Uncertain Mechanical System |
| title_full |
An Incremental Feedback Control for Uncertain Mechanical System |
| title_fullStr |
An Incremental Feedback Control for Uncertain Mechanical System |
| title_full_unstemmed |
An Incremental Feedback Control for Uncertain Mechanical System |
| title_sort |
incremental feedback control for uncertain mechanical system |
| publisher |
IEEE |
| series |
IEEE Access |
| issn |
2169-3536 |
| publishDate |
2020-01-01 |
| description |
This paper focuses on the tracking problem for fully-actuated mechanical systems with uncertain parameters and external disturbances. Based on the state feedback control of contraction analysis, the robust controller with extra gains is suggested to provide for the tracking of mechanical systems with uncertainties. The proposed control scheme can be redesigned with dual ideas and theoretically prove that the robust control renders uniform roundedness. Further more, the inertia matrices being uniformly bounded above are limited. The simulation is proposed to account for the effectiveness and robustness of the provided method. |
| topic |
Increment contraction analysis fully-actuated system robust control |
| url |
https://ieeexplore.ieee.org/document/8945326/ |
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