A ROBUST NONLINEAR TRACKING CONTROL APPROACH FOR MULTI-BODY FLEXIBLE DYNAMIC SYSTEMS

摘要

In this research, a multi-input multi-output (MIMO) integral continuous sliding mode design approach is proposed to achieve multi-objective robust tracking control for nonlinear dynamic systems. Instead of employing the equivalent control and switching control concepts in conventional variable structure methodology, here we develop a new design procedure using continuous control law with a tunable order of state feedback. As a result, the chattering phenomenon can be completely eliminated and the control sensitivity can be adjusted using the proposed sensitivity parameter. This design procedure can be applied to a general class of mechanical systems. The performance of the controller is verified using a series of simulation studies on flexible rotating beam and robotic manipulator.