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Robust Tracking as Constrained Optimization by Uncertain Dynamic Plant: Mirror Descent Method and ASG—Version of Integral Sliding Mode Control

Authors :
Alexander Nazin
Hussain Alazki
Alexander Poznyak
Source :
Mathematics, Vol 11, Iss 19, p 4112 (2023)
Publication Year :
2023
Publisher :
MDPI AG, 2023.

Abstract

A class of controlled objects is considered, the dynamics of which are determined by a vector system of ordinary differential equations with a partially known right-hand side. It is presumed that the state variables and their velocities can be measured. Designing a robust tracking controller under some constraints to admissible state variables is the research goal. This construction, which extends the results for the average subgradient technique (ASG), and is an update of the subgradient descent technique (SDM) and integral sliding mode (ISM) approach, is realized by using the Legendre–Fenchel transform. A two-link robot manipulator with three revolute joints, powered by individual PMDC motors, is presented as an illustrative example of the suggested approach implementation.

Details

Language :
English
ISSN :
22277390
Volume :
11
Issue :
19
Database :
Directory of Open Access Journals
Journal :
Mathematics
Publication Type :
Academic Journal
Accession number :
edsdoj.8055d82145b74410b12124d82db3e8be
Document Type :
article
Full Text :
https://doi.org/10.3390/math11194112