Simultaneous path-following and vibration control for uncertain nonlinear flexible mechanical systems without dependency on oscillatory mathematical model

DOI10.1007/S11044-020-09757-7MaRDI QIDQ2034100zbMATH OpenOpenAlexFDO

Authors Mohammad R. Homaeinezhad, H. M. Gholyan, Sadeq Yaqubi

Publication date 21 June 2021

Published in Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11044-020-09757-7

zbMATH Keywords

control of flexible dynamical systemspath-following controlsliding functions analysis.

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Variable structure systems (93B12) Asymptotic stability in control theory (93D20)

Review text

A model for flexible dynamical systems is presented. Vibrational dynamical effects are considered as unstructured uncertainties. The dynamics are transformed in a discrete-time format, and a path-following control algorithm which obtains stabilization and tracking is constructed, based on sliding function analysis. Mitigation of vibrational effects is also considered. An example is discussed.

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Cites work

• Adaptive sliding mode control of \(n\) flexible-joint robot manipulators in the presence of structured and unstructured uncertainties
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• Solving Ordinary Differential Equations I
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Cited in

(4)

• Synthetic Lyapunov stabilization technique for designing actuation-constrained multi-input multi-output control systems
• Design of delayed reference controllers for simultaneous path tracking and active vibration damping of multi-degree-of-freedom linear systems
• Active predictive vibration suppression algorithm for structural stability and tracking control of nonlinear multivariable continuum-mechanics mobile systems
• Model predictive control for path tracking in cable driven parallel robots with flexible cables: collocated vs. noncollocated control

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