Control of A Class of Nonlinear Uncertain Systems Via Compensated Inverse Dynamics Approach

Y. D. Song, T. L. Mitchell, H. Y. Lai

Research output: Contribution to journalArticlepeer-review

21 Citations (Scopus)

Abstract

The tracking control problem of a class of nonlinear systems via inverse dynamics method is addressed. The motivation for the study stems from the need to control practical systems arising from aerospace and mechanical engineering. Because modeling uncertainties and external disturbances are always present in these systems, inverse dynamics technique is not applicable directly. A compensated inverse dynamics approach is proposed to account for the effect of uncertainties. The compensation is achieved by Adaptive and robust schemes. Application of the proposed strategy to the vibration suppression of a two-bay flexible truss structure is presented.

Original languageEnglish
Pages (from-to)1866-1871
Number of pages6
JournalIEEE Transactions on Automatic Control
Volume39
Issue number9
DOIs
Publication statusPublished - 1994 Sep

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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