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Article Dans Une Revue Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences Année : 2003

A new perspective on the tracking control of nonlinear structural and mechanical systems

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Based on recent results from analytical dynamics, this paper develops a class of tracking controllers for controlling general, nonlinear, structural and mechanical systems. Unlike most control methods that perform some kind of linearization and/or nonlinear cancellation, the methodology developed herein views the nonlinear control problem from a different perspective. This leads to a simple and new control methodology that is capable of 'exactly' maintaining the nonlinear system along a certain trajectory, which, in general, may be described by a set of differential equations in the observations/measurements. The approach requires very little computation compared with standard approaches. It is therefore useful for online real-time control of nonlinear systems. The methodology is illustrated with two examples.
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hal-01399761 , version 1 (20-11-2016)

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Firdaus Udwadia. A new perspective on the tracking control of nonlinear structural and mechanical systems. Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences, 2003, 459 (2035), pp.1783 - 1800. ⟨10.1098/rspa.2002.1062⟩. ⟨hal-01399761⟩

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