| Autor: |
Weizheng Ren, Bin Zhang, Haiyuan Li, Lutao Yan |
| Jazyk: |
angličtina |
| Rok vydání: |
2020 |
| Předmět: |
|
| Zdroj: |
IEEE Access, Vol 8, Pp 51510-51517 (2020) |
| Druh dokumentu: |
article |
| ISSN: |
2169-3536 |
| DOI: |
10.1109/ACCESS.2020.2980492 |
| Popis: |
In this paper, the tracking control problem is investigated for time-varying nonlinear mechanical systems with and without frictions. A reduced-order dynamic and a traditional time-invariant Lyapunov design method is utilized for the case without frictions. Based on the traditional results, a new class of time-varying Lyapunov functions is provided for the case with time-varying frictions. It is shown that the tracking errors of the closed-loop system will converge to the neighborhood of the origin, which is determined by the feedback parameters. Numerical examples are presented for illustration. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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