A quasi-tracking approach for finite-time control of a mass-beam system. (English) Zbl 0934.93017
This important paper presents an approach for finite-time control of a distributed-parameter system: a flexible beam connected to a translational mass. A quasi-tracking variable is introduced, and a terminal sliding controller is developed to achieve finite-time convergence of the quasi-tracking variable to a properly predefined trajectory.
It is shown that the error between the end point of the beam and the predefined trajectory, though not decaying to zero, is always bounded by a small time-varying bound. Moreover, a method to reduce the error bound is given. The problem of observation (control) spillovers, which exists in the conventional truncated-model-based controller design, is essentially avoided. Satisfactory simulation results are provided to demonstrate the effectiveness of the presented approach.
It is shown that the error between the end point of the beam and the predefined trajectory, though not decaying to zero, is always bounded by a small time-varying bound. Moreover, a method to reduce the error bound is given. The problem of observation (control) spillovers, which exists in the conventional truncated-model-based controller design, is essentially avoided. Satisfactory simulation results are provided to demonstrate the effectiveness of the presented approach.
Reviewer: J.Lovíšek (Bratislava)