0
TECHNICAL PAPERS

Control of a Class of Mechanical Systems With Uncertainties Via a Constructive Adaptive/Second Order VSC Approach

[+] Author and Article Information
A. Ferrara

Department of Computer Engineering and Systems Science, University of Pavia, Via Ferrata 1, 27100 Pavia, Italye-mail: antonella.ferrara@unipv.it

L. Giacomini

Department of Electronic Engineering and Computer Science. Aston University, Aston Triangle, B4 7ET, Birmingham, United Kingdome-mail: l.giacomini@aston.ac.uk

J. Dyn. Sys., Meas., Control 122(1), 33-39 (Apr 27, 1998) (7 pages) doi:10.1115/1.482426 History: Received April 27, 1998
Copyright © 2000 by ASME
Your Session has timed out. Please sign back in to continue.

References

Kanellakopoulos,  I., Kokotović,  P. V., and Morse,  A. S., 1991, “Systematic Design of Adaptive Controllers for Feedback Linearizable Systems,” IEEE Trans. Autom. Control., 36, pp. 1241–1253.
Krstić,  M., Kanellakopoulos,  I., and Kokotović,  P. V., 1992, “Adaptive Nonlinear Control Without Over-Parameterization,” Systems Control Lett., 19, pp. 177–185.
Krstić,  M., and Kokotović,  P. V., 1995, “Adaptive Nonlinear Design with Controller-Identifier Separation and Swapping,” IEEE Trans. Autom. Control., 40, pp. 426–440.
Nam,  K., and Arapostathis,  A., 1988, “A Model Reference Adaptive Control Scheme for Pure-Feedback Non Linear Systems,” IEEE Trans. Autom. Control., 33, pp. 803–811.
Seto,  D., Annaswamy,  A. M., and Baillieul,  J., 1994, “Adaptive Control of a Class of Nonlinear Systems with a Triangular Structure,” IEEE Trans. Autom. Control., 39, pp. 1411–1428.
Utkin, V. I., 1992, Sliding Modes In Control And Optimization, Springer-Verlag, Berlin.
Zinober, A. S. I. ed., 1994, Variable Structure and Lyapunov Control, Springer-Verlag, London.
Bartolini, G., and Ferrara, A., 1994, “Model-Following VSC Using an Input-Output Approach,” Variable Structure and Lyapunov Control, A.S.I. Zinober, ed., Springer-Verlag, London, pp. 289–312.
Narendra,  K. S., and Boskovic,  J. D., 1989, “A Combined Direct, Indirect and Variable Structure Method for Robust Adaptive Control,” IEEE Trans. Autom. Control., 37, pp. 262–268.
Bartolini, G. Ferrara, A., Giacomini, L., and Usai, E., 1996, “A Combined Backstepping/Second Order Sliding Mode Approach to Control a Class of Nonlinear Systems,” Proc. IEEE International Workshop on Variable Structure Systems, Tokyo, Japan, pp. 205–210.
Sira-Ramirez,  H., 1992, “On the Sliding Mode Control of Nonlinear Systems,” Systems Control Lett., 19, pp. 303–312.
Zinober, A. S. I., and Rios-Bolivar, E. M., 1994, “Sliding Mode Control for Uncertain Linearizable Nonlinear Systems: A Backstepping Approach,” Proc. IEEE Workshop on Robust Control via Variable Structure and Lyapunov Techniques, Benevento, Italy, pp. 78–85.
Bartolini,  G., Ferrara,  A., and Usai,  E., 1997, “Applications of a Suboptimal Discontinuous Control Algorithm for Uncertain Second Order Systems,” Int. J. Robust Nonlin. Control, 7, pp. 299–320.
Levant,  A., 1993, “Sliding Order and Sliding Accuracy in Sliding Mode Control,” Int. J. Control, 58, pp. 1247–1263.
Spong, M. W., and Vidyasagar, M., 1989, Robot Dynamics and Control, Wiley, New York.
Marino, R., and Nicosia, S., 1985, “Singular Perturbation Techniques in the Adaptive Controls of Elastic Robots,” Proc. 1st IFAC Symp. on Robot Control, Barcelona, pp. 95–100.
Spong,  M. W., 1987, “Modeling and Control of Elastic Joint Robots,” ASME J. Dyn. Syst., Meas., Control, 109, pp. 310–319.
Chang,  Y., and Daniel,  R. W., 1992, “On the Adaptive Control of Flexible Joint Robots,” Automatica, 28, pp. 969–974.
Ge,  S. S., 1996, “Adaptive Controller Design for Flexible Joint Manipulators,” Automatica, 32, pp. 273–278.
Spong,  M. W., 1989, “Adaptive Control of Flexible Joint Robots,” Systems Control Lett., 13, pp. 15–21.
Spong,  M. W., 1995, “Adaptive Control of Flexible Joint Manipulators: Comments on Two Papers,” Automatica, 31, pp. 585–590.
Su,  R., and Hunt,  L. R., 1986, “A Canonical Expansion for Nonlinear Systems,” IEEE Trans. Autom. Control., 31, pp. 670–673.
Krstić, M., Kanellakopoulos, I., and Kokotović, P. V., 1995, Nonlinear and Adaptive Control Design, Wiley, New York.
Krstić,  M., and Kokotović,  P. V., 1994, “Observer-Based Schemes for Adaptive Nonlinear State-Feedback Control,” Int. J. Control, 59, No. 6, pp. 1373–1381.
Jankovic,  M., 1997, “Adaptive Nonlinear Output Feedback Tracking with a Partial High-Gain Observer and Backstepping,” IEEE Trans. Autom. Control., 42, No. 1, pp. 106–113.
Bartolini,  G., Ferrara,  A., and Usai,  E., 1997, “Output Tracking Control of Uncertain Nonlinear Second-Order Systems,” Automatica, 33, No. 12, pp. 2203–2212.
Li,  Z., and Krstić,  M., 1997, “Maximizing Regions of Attraction Via Backstepping and CLFs with Singularities,” Systems Control Lett., 30, pp. 195–207.

Figures

Grahic Jump Location
Single link with joint flexibility
Grahic Jump Location
θ̃ trajectories in the proposed procedure
Grahic Jump Location
S trajectory in the proposed procedure
Grahic Jump Location
u trajectory in the proposed procedure
Grahic Jump Location
z4 trajectory in the proposed procedure
Grahic Jump Location
Output trajectory in the proposed procedure

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In