Constraint-following control design for active suspension systems

Iterative feedback tuning for optimal repetitive constraint‐following control of uncertain mechanical systems using Udwadia–Kalaba theory

“…) + = . Therefore, this paper proposes the controller (15) for the constraint following of uncertain MSs:…”

“…The controller (15 ) involves two tunable control gains, and they directly affect the constraint-following performance and the control cost. From an economic perspective, one may be interested in finding the optimal combination of [ ] T that can reach the equilibrium between the system performance and control cost.…”

“…This section provides a two-link manipulator as a simulation example to testify the proposed robust controller (15) and the IFT optimization algorithm 34 . Figure 3 shows the model of the manipulator, and Table 1 lists the corresponding parameters.…”

“…Combining the sliding mode control and Udwadia‐control, Reference 13 designed a controller for nonlinear multibody systems. Considering both equality and inequality constraints, Reference 14 proposed a constraint‐following control for active suspension systems. In Reference 15, the control of artificial swarm MSs is addressed by taking both agents' behaviors and the desired trajectory‐tracking of the swarm MSs into consideration.…”

Adaptive Neural Control and Modeling for Continuous Stirred Tank Reactor with Delays and Full State Constraints

“…Constraints could be seen everywhere in practical systems, for instance, car suspension [23,24], motor servo systems [25,26], mobile manipulators [27], and chemical systems [28]; the violation of constraints is a main source of reducing control quality and even causing instability. Logarithm barrier Lyapunov functions were first proposed for constant output constraints in [29] to ensure that system output stays within the prescribed barrier functions.…”