Emirsajłow, Zbigniew ; Barciński, Tomasz
Contributor:Campagner, Andrea - ed. ; Lenz, Oliver Urs - ed. ; Xia, Shuyin - ed.
Title: Subtitle: Group publication title: Subject and Keywords:underactuated 2DOF mechanical system ; rotational motion control ; robust asymptotic tracking ; robust error feedback controller
Abstract:The paper is devoted to the theoretical problem of designing a robust asymptotic tracking control system for a rotational motion of a 2DOF underactuated linear mechanical system with parametric uncertainties. The mathematical formulation of the problem is motivated by the attitude control problem of an earth observation satellite with a solar panel. It is assumed that all the parameters of the plant model are uncertain and the plant single input is additively disturbed by an unknown constant torque. ; By employing the general regulator theory in the state space setup combined with the concept of the structured singular value, we develop a robustly stabilizing and robustly asymptotically tracking error feedback controller. The rotation of the main rigid body of the mechanical system is to asymptotically track a harmonically changing reference signal. The obtained theoretical results are successfully tested on two numerical examples and computations are performed in Matlab.
Publisher:Zielona Góra: Uniwersytet Zielonogórski
Date: Resource Type: DOI: Pages: Source:AMCS, volume 35, number 1 (2025) ; click here to follow the link
Language: License CC BY 4.0: Rights: