Stability with finite reachability time : analysis and control synthesis for mechanical systems
by
Annemarie Kökösy
ISEN - ERASM, 41 Bvd Vauban, 59046 Lille Cedex, France, LAGIS - UMR 8146, Cité Scientifique, BP 48, 59651 Villeneuve d'Ascq Cedex, France
Coauthors: Lyubomir T. Gruyitch (University of Technology Belfort-montbeliard, 90010 Belfort Cedex, France)

Joint stability and attraction with finite reachability time express a high quality for the plant motion and satisfy excellently enhanced industrial demands. Such demands require the knowledge of a large estimate of the domain of both stability and attraction with finite reachability time, which is defined in the paper.

The plant studied in this paper is a mechanical system. The model of this includes unknown plant parameters and nonlinearities, and unknown and unpredictable external perturbations. A new sliding mode control algorithm is synthesised in order to guarantee both stability and attraction with finite reachability time of a desired motion for arbitrary initial conditions from the domain estimate, for any parameters from a specified (or to be determined) parameter set, and for any perturbations from the family of the permitted disturbances. The value of the reachability time can be prescribed or to be determined, as well. The control is fully robust relative to unknown and unpredictable parameters, nonlinearities and perturbations. It guarantees excellent quality of the controlled plant motions.

The theoretical results are approved by simulations of a chosen mechanical plant. The plant model and its controlled motions, their errors and controls are shown in the paper.

Date received: February 25, 2004

Copyright © 2004 by the author(s). The author(s) of this document and the organizers of the conference have granted their consent to include this abstract in Atlas Conferences Inc. Document # cakt-67.