Journal
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
Volume 347, Issue 1, Pages 69-86Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.jfranklin.2009.10.012
Keywords
Mechanical system; Constraint; Motion control; Robust control; Adaptive control
Categories
Funding
- Chinese Scholarship Council
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We formulate control problems of mechanical systems as constraint following. The system contains uncertainty which is (possibly fast) time-varying. It is unknown but bounded. The bound is, however, unknown. The objective is to design control which renders approximate constraint following. Adaptive laws are constructed. The controls are then based on the adaptive parameters. We are able to demonstrate guaranteed system performance, regardless of the uncertainty. (c) 2009 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
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