Robust End-Point Tracking Control Of A 2-Degree-Of-Freedom Mass Spring Damper System

    Authors

    M. M. Bridges; J. Y. Zhu; D. M. Dawson;Z. Qu

    Comments

    Authors: contact us about adding a copy of your work at STARS@ucf.edu

    Abbreviated Journal Title

    Int. J. Control

    Keywords

    UNCERTAIN; Automation & Control Systems

    Abstract

    This paper presents an approach for designing a robust tracking controller for a two degree of freedom series mass-spring-damper system. Our approach uses the newly developed technique of model reference robust control for SISO systems first described by Qu and Dawson (1992) and more recently by Qu et al. (1992), and we specifically show how this technique can be applied to a common benchmark problem (Wie and Bernstein 1990) for robust control design. This problem is the development of a control that can force the last degree of freedom (i.e. end point) of a mass-spring-damper system to follow a desired trajectory. For this problem we show how a robust controller can achieve global uniform ultimate boundedness (GUUB) for the position tracking error of the system's last degree of freedom in spite of unknown model parameters and additive bounded disturbances.

    Journal Title

    International Journal of Control

    Volume

    59

    Issue/Number

    5

    Publication Date

    1-1-1994

    Document Type

    Article

    Language

    English

    First Page

    1309

    Last Page

    1324

    WOS Identifier

    WOS:A1994NQ06800010

    ISSN

    0020-7179

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