Control of Uncertain Nonlinear Multibody Mechanical Systems

Abstract

Descriptions of reallife complex multibody mechanical systems are usually uncertain. Two sources of uncertainty are considered in this paper: uncertainties in the knowledge of the physical system and uncertainties in the “givenâ€‌ forces applied to the system. Both types of uncertainty are assumed to be time varying and unknown, yet bounded. In the face of such uncertainties, what is available in hand is therefore just the socalled “nominal system,â€‌ which is our best assessment and description of the actual reallife situation. A closedform equation of motion for a general dynamical system that contains a control force is developed. When applied to a reallife uncertain multibody system, it causes the system to track a desired reference trajectory that is prespecified for the nominal system to follow. Thus, the reallife system's motion is required to coincide within prespecified error bounds and mimic the motion desired of the nominal system. Uncertainty is handled by a controller based on a generalization of the concept of a sliding surface, which permits the use of a large class of control laws that can be adapted to specific reallife practical limitations on the control force. A set of closedform equations of motion is obtained for nonlinear, nonautonomous, uncertain, multibody systems that can track a desired reference trajectory that the nominal system is required to follow within prespecified error bounds and thereby satisfy the constraints placed on the nominal system. An example of a simple mechanical system demonstrates the efficacy and ease of implementation of the control methodology.