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Zero Dynamics Analysis and Adaptive Tracking Control of Underactuated Multibody Systems with Flexible Links

Mao, Zehui, Tao, Gang, Jiang, Bin, Yan, Xinggang (2019) Zero Dynamics Analysis and Adaptive Tracking Control of Underactuated Multibody Systems with Flexible Links. International Journal of Control, . ISSN 0020-7179. (doi:10.1080/00207179.2019.1686179) (Access to this publication is currently restricted. You may be able to access a copy if URLs are provided) (KAR id:78924)

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Language: English

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https://doi.org/10.1080/00207179.2019.1686179

Abstract

This paper studies the adaptive tracking control problem for underactuated multibody systems with flexible links in the presence of unknown parameters. A four-body system with input signals acting on the first and fourth bodies is chosen as a benchmark model, which can be decomposed into a control dynamics subsystem and a zero dynamics subsystem. A new and detailed stability analysis is conducted to show that such a zero dynamic system is Lyapunov stable and is partially input-to-state stable under the condition that the speeds of first and fourth bodies are synchronous. The physical meaning of such partial input-to-state stability is clarified. An adaptive controller is developed to ensure such a needed system stabilization condition and thus the boundedness of the desired closed-loop system signal and asymptotic speed tracking of the control dynamics subsystem. Detailed closed-loop system stability and tracking performance analysis are given, in which the tracking errors satisfy the L^1 performance. Extensions to the other multibody systems with flexible links are derived. The developed adaptive controller is applied to a realistic train dynamic model, and simulation results verify the desired system performance.

Item Type: Article
DOI/Identification number: 10.1080/00207179.2019.1686179
Uncontrolled keywords: Adaptive control, underactuated multibody systems, trajectory tracking, zero dynamics
Subjects: T Technology
Divisions: Faculties > Sciences > School of Engineering and Digital Arts
Depositing User: Xinggang Yan
Date Deposited: 21 Nov 2019 12:26 UTC
Last Modified: 22 Nov 2019 13:21 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/78924 (The current URI for this page, for reference purposes)
Yan, Xinggang: https://orcid.org/0000-0003-2217-8398
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