Robust decentralized global asymptotic tracking control of a class of nonlinear mechanical systems

Abstract

Abstract-In this paper, a RISE type of tracking controllers for a class of nonlinear mechanical systems is proposed. The proposed chattering-free controller provides global asymptotic tracking in the presence of external disturbances. The proof of global asymptotic stability is based on a novel approach to the construction of a Lyapunov function which is parameterized by a time-varying function of reference and disturbance vector. The explicit conditions on the controller gains to ensure global asymptotic tracking are obtained. The simulation results on a system of three inverted pendulums interconnected by two springs illustrate the performances of the proposed controller.

Chattering-Free Tracking Control of a Fully Actuated Multirotor with Passively Tilted Rotors

“…In other words, the SMC in the FMRC is more sensitive to wind gusts in the horizontal plane, even in the case of small amplitudes. The positive definite gain matrices , , and the positive parameter satisfy the stability conditions which are adopted from [14] for the case of constant gravitational forces…”

“…A quadrotor robust tracking controller is proposed in [13] with respect to the unmodelled dynamics which provides rejection of disturbances, for the purpose of solving the trajectory tracking problem. In [14], RISE (Robust Integral of the Sign of the Error) tracking control is presented.…”