Robust regulation and tracking control of a class of uncertain 2DOF underactuated mechanical systems
type: Item
instance of: scholarly article
title: Robust regulation and tracking control of a class of uncertain 2DOF underactuated mechanical systems
zbMATH Open document ID: 1394.93123
DOI: 10.1155/2015/429476
author: David I. Rosas Almeida
author: Carlos Gamez
author: Raúl Rascón
published in: Mathematical Problems in Engineering
publication date: 2018-08-27T00:00:00Z
review text: Summary: A strategy to design and implement a robust controller for a class of underactuated mechanical systems, with two degrees of freedom, which solves the problems of regulation and trajectory tracking, is proposed. This control strategy considers the partial measurement of the state vector and the presence of parametric uncertainties in the plant; these conditions are common in the implementation of a control system. The strategy is based on the use of robust finite time convergence observers to estimate the unmeasured state variables, unknown disturbances, and other signals needed for the control system implementation. The performance of the control strategy is illustrated numerically and experimentally.
Mathematics Subject Classification ID: 93C40
zbMATH DE Number: 6926338
Wikidata QID: Q59118560
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2015/429476
OpenAlex ID: W2139780366
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description: scientific article; zbMATH DE number 6926338