Abstract
This paper deals with the simulation, and design of a trajectory-tracking control law for a physical system under parameter uncertainty modeled by a bond graph. This control strategy is based on the inversion of the system through their causal Input/Output (I/O) path using the principle of bicausality to track the desired trajectory. The proposed control strategy is validated with the use of a simple mechanical mass-spring-damper system. The results show that the bond graph is a very helpful methodology for the design of control laws in the presence of uncertainties. This proposed control can be applied in several applications and can be improved to ensure robust control.
Highlights
Bond graph modeling is a rapidly developing powerful tool for modeling multidisciplinary physical systems with graphic and algebraic characteristics that help analyzing system properties and synthesizing control laws or algorithms for system monitoring
The work presented in this paper is based on the application of the control law introduced in [1] on a system modeled by a bond graph which was improved by the study of parametric uncertainties introduced in [2, 3] and the work in [3] regarding incremental bond graphs for the derivation of the state model for the study of robustness of bond graph models
This work consists of the design of a trajectory-tracking control law using uncertain bond graph models, in the same way as they are used in the development of diagnostic algorithms for industrial systems [5
Summary
Bond graph modeling is a rapidly developing powerful tool for modeling multidisciplinary physical systems with graphic and algebraic characteristics that help analyzing system properties and synthesizing control laws or algorithms for system monitoring. The work presented in this paper is based on the application of the control law introduced in [1] on a system modeled by a bond graph which was improved by the study of parametric uncertainties introduced in [2, 3] and the work in [3] regarding incremental bond graphs for the derivation of the state model for the study of robustness of bond graph models.
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