Zero dynamics analysis and adaptive tracking control of underactuated multibody systems with flexible links

Mao, Zehui; Tao, Gang; Jiang, Bin; Yan, Xiangwu

doi:10.1080/00207179.2019.1686179

Cited by 2 publications

(6 citation statements)

References 31 publications

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“…Remark 6: Theorem 1 shows that the sliding dynamic ( 16) is uniformly ultimately bounded. Theorem 2 shows that the designed control (35) can drive the considered system ( 10)- (11) to the sliding surface (15). From the sliding mode theory, Theorems 1 and 2 together show that the considered system (10)-( 11) is uniformly ultimately bounded.…”

Section: Decentralized Sliding Mode Control Designmentioning

confidence: 85%

“…1 which is composed of four mass bodies connected by springs and dampers. From the Newton-second law and the work in [15] , the dynamical equations of the four-body system in Fig. 1 are given by…”

Section: Four-body System Descriptionmentioning

confidence: 99%

“…Theorem 2: For the interconnected system ( 10)-( 11), under Assumptions 3.1-3.2, the controller (35) drives the system (10)- (11) to sliding surface (15) and maintains a sliding motion on it thereafter if the controller gain…”

Section: Decentralized Sliding Mode Control Designmentioning

confidence: 99%

“…1 is considered. The mathmatical model is from [15] where the centralised control is focused although the tracking problem is considered. The four-body system is described by an interconnected system where unmatched uncertainties are considered.…”

Section: Introductionmentioning

confidence: 99%

“…The four-body system is described by an interconnected system where unmatched uncertainties are considered. Also, a different suitable coordinate transformation is introduced to transfer the original system to an interconnected system with two low-dimensional subsystems connected by springs and dampings when compared with the coordinates in [15]. Then, the sliding surface is designed in terms of the tracking errors between system outputs and corresponding desired signals.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Sliding Mode Based Decentralized Tracking Control of Underactuated Four-Body Systems

Ding

Yan

Mao

et al. 2022

2022 13th Asian Control Conference (ASCC)

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In this paper, output tracking control of four-body systems with flexible links is considered, where only the first and last bodies are with actuators. The systems are mathematically modelled based on the Newton's second law, which is described as an interconnected system with two subsystems. Due to the mechanical wear and changes of the external environment, it is necessary to consider uncertainties in the systems which are assumed to be bounded by known functions. Based on sliding mode techniques, a decentralized control scheme is proposed such that the outputs of the controlled systems can track the desired signals uniformly ultimately. Using specific coordinate transformations, the considered systems are transformed to a new system with a special structure to facilitate the design of sliding surfaces and sliding mode controllers. A set of conditions is developed under which the designed decentralized controller drives the tracking errors onto the sliding surface and stay on the surface thereafter while the system states are bounded. For simulation purposes, the desired signals are selected as part of a hyperbolic function which is time-varying and in consistence with the real situations. Simulation demonstrates that the proposed control strategy is effective and feasible.

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Section: Decentralized Sliding Mode Control Designmentioning

confidence: 85%

Section: Four-body System Descriptionmentioning

confidence: 99%

Section: Decentralized Sliding Mode Control Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Sliding Mode Based Decentralized Tracking Control of Underactuated Four-Body Systems

Ding

Yan

Mao

et al. 2022

2022 13th Asian Control Conference (ASCC)

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Sliding Mode-Based Distributed Trajectory Tracking Control of Four-body Train Systems

Ding,

Yan

2024

j. of electron. & inf. syst.

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This paper considers the speed tracking of a four-body train system modelled mathematically based on Newton’s second law, which is described by a large-scale interconnected system with four subsystems. Uncertainties are included in the systems to represent the potential impacts on system performance caused by mechanical wear and external environmental changes. An adaptive sliding mode technique is employed to design a distributed control scheme to guarantee tracking accuracy. Coordinate transformations are introduced to transfer the model of train systems to a system in regular form to facilitate the design of the hyperplane and controllers. The Barbashin-Krasovskii theorem is employed to show the reachability of the hyperplane. In simulations, the Gaussian function is chosen as the desired signal, representing time-varying characteristics relevant to real-world situations, and the result demonstrates the feasibility of the proposed control strategy.

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Zero dynamics analysis and adaptive tracking control of underactuated multibody systems with flexible links

Abstract: The version in the Kent Academic Repository may differ from the final published version. Users are advised to check http://kar.kent.ac.uk for the status of the paper. Users should always cite the published version of record.

Cited by 2 publications

References 31 publications

Sliding Mode Based Decentralized Tracking Control of Underactuated Four-Body Systems

Sliding Mode Based Decentralized Tracking Control of Underactuated Four-Body Systems

Sliding Mode-Based Distributed Trajectory Tracking Control of Four-body Train Systems

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