Adaptive robust control for triple evasion-tracing-arrival performance of uncertain mechanical systems

Abstract

This article proposes a (cooperative) triple evasion-tracing-arrival problem for mechanical systems. The system contains uncertainty which is (possibly fast) time-varying but bounded; however, the bound is unknown. The main objective is to obtain controllers for the controlled system to assure three categories of system performance: evasion (with respect to a region), tracing (with respect to another region) and arrival (with respect to other another region). This problem is transferred as constraint-following control, based on which, the constraint derived from the original problem is creatively divided into two categories: evasion-tracing constraint and arrival constraint. Then, an adaptive robust control is designed, with which the evasion-tracing constraint is completely followed and the arrival constraint is closely followed by the system, regardless of the uncertainty. As a result, the triple evasion-tracing-arrival problem is solved.

Keywords

Mechanical system evasion-tracing-arrival constraint-following adaptive robust control uncertainty

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