Abstract

In this article, a dynamic output feedback based sliding mode learning control is proposed for uncertain mechanical system. After giving the model of uncertain mechanical system, the uncertainty and disturbance of it are discussed and they are assumed to be mismatched. The velocity of the uncertain mechanical system is assumed to be unmeasurable, and then a dynamic output feedback control strategy is utilized here. A dynamic output feedback-based sliding surface is constructed. The parameters of the designed surface are solved by Lyapunov function approach. Then a sliding mode learning controller is proposed for uncertain mechanical system to overcome the chattering of traditional sliding mode control. Finally, a numerical simulation is given to show the effectiveness of the proposed controller.

Highlights

  • A lot of industrial system can be represented by a mechanical system, such as active suspension of vehicle,1 serial robot arm,2 vesselriser system,3 planar three-link mechanical system4 and rotational mechanical system

  • For an actual industrial system, a specific sensor is needed if we want to get a certain variable, for example, a velocity sensor is need if we want to measure the velocity of the industrial system timely

  • A dynamic output feedback (DOF)-sliding mode learning control (SMLC) has been proposed for mechanical system

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Summary

Introduction

A lot of industrial system can be represented by a mechanical system, such as active suspension of vehicle,1 serial robot arm,2 vesselriser system,3 planar three-link mechanical system4 and rotational mechanical system.5 For the successful application of industrial system, the controller design of mechanical system has drawn much attention in recent years.6,7 for an actual industrial system, a specific sensor is needed if we want to get a certain variable, for example, a velocity sensor is need if we want to measure the velocity of the industrial system timely. Keywords Uncertain mechanical system, dynamic output feedback, sliding mode learning control Output feedback based controller design method is an effective way for the control of mechanical system.8–10 A discontinuous control law, which can force the system dynamics to the sliding surface, is designed.

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