Position Control of Flexible Joint Carts Using Adaptive Generalized Dynamics Inversion
作者机构：Department of Electrical and Computer Engineering(ECE)King Abdulaziz UniversityJeddah21589Saudi Arabia Center of Excellence in Intelligent Engineering Systems(CEIES)King Abdulaziz UniversityJeddah21589Saudi Arabia Next Generation Wireless Research GroupUniversity of SouthamptonUK
出 版 物：《Computers, Materials & Continua》 (计算机、材料和连续体（英文）)
年 卷 期：2022年第70卷第3期
页 面：4691-4705页
核心收录：
学科分类：07[理学] 0701[理学-数学] 070101[理学-基础数学]
基 金：This research work was funded by Institutional Fund Projects under Grant No.(IFPHI-106-135-2020)
主 题：Adaptive control generalized dynamic inversion moore-penrose generalized inverse sliding mode control lyapunov stability semi-global asymptotic stability
摘 要：This paper presents the design and implementation of Adaptive Generalized Dynamic Inversion(AGDI)to track the position of a Linear Flexible Joint Cart(LFJC)system along with vibration suppression of the flexible *** proposed AGDI control law will be comprised of two control *** baseline(continuous)control law is based on principle of conventional GDI approach and is established by prescribing the constraint dynamics of controlled state variables that reflect the control *** control law is realized by inverting the prescribed dynamics using dynamically scaledMoore-Penrose generalized *** boost the robust attributes against system nonlinearities,parametric uncertainties and external perturbations,a discontinuous control law will be augmented which is based on the concept of sliding mode *** discontinuous control law,the sliding mode gain is made adaptive in order to achieve improved tracking performance and chattering *** closed-loop stability of resultant control law is established by introducing a positive define Lyapunov candidate function such that semi-global asymptotic attitude tracking of LFJC system is *** computer simulations followed by experimental investigation will be performed on Quanser’s LFJC system to authenticate the feasibility of proposed control approach for its application to real world problems.
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