Nonlinear damping control for uncertain nonlinear multi‐body mechanical systems
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Abstract
Descriptions of real-life complex multi-body mechanical systems are usually uncertain, and their effective control must take into account uncertainties that arise from two general sources: uncertainties in the knowledge of the physical system and uncertainties in the ‘given’ forces applied to the system. Both categories of uncertainties, which we assume to be time varying and unknown, yet bounded, are considered in this paper. In the face of such uncertainties, what is available in hand is therefore just the so-called ‘nominal system,’ which is simply our best assessment and description of the actual real-life situation. The aim of this paper is to develop a general control methodology, which when applied to a real-life uncertain multi-body system, causes this system to track a desired reference trajectory that is pre-specified for the nominal system to follow. An example of a simple mechanical system demonstrates the efficacy and ease of implementation of the tracking control methodology.
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