Tracking Control of Nonlinear Mechanical Systems

摘要: The subject of this thesis is the design tracking controllers for certain classes mechanical systems. consists two parts. In first part an accurate mathematical model system under consideration assumed to be given. goal follow a specified trajectory. Therefore, feasible reference trajectory given i.e., that can realized consideration. error at each time defined as difference between where and it should be. problem now controller which such converges zero, no matter initialized nor time-instant. A new methodology presented, based on theory cascaded systems, systems seen special interconnection stable subsystems. This approach applied three different models.