Synthesis of Control for Mechanical Systems With Unknown Inertia Matrix Taking Into Account Delay in Feedback Structure

Daria Yuryevna Motorina, [e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it. ]D. Motorina

Synthesis of Control for Mechanical Systems With Unknown Inertia Matrix Taking Into Account Delay in Feedback Structure 22_2.pdf

The article is devoted to tracking-task solution for mechanical systems with unknown inertia matrix and variable delay in feedback system. It justifies a continuous law of control with saturation, gives an algorithm for control-parameter finding. The applied approach is based on the use of Lyapunov vector-function with vector-norm components. This method allows the estimation of the maximum value of delay in the system and domain of initial displacements from a trajectory being tracked. A two-link manipulator on a mobile base is given as an example in the article.

Tracking task, delayed control, mechanical system with unknown inertia matrix, lyapunov vector-function.