Abstract

We consider the problem on the controlled motion of a platform such that a solid body bearing a dissipative oscillator is attached to it by means of a spring. The platform moves along a horizontal line under the action of the control force, undergoing the action of a bounded uncontrolled perturbation, e.g., the dry friction force, as well. It is assumed that the phase state of the oscillator is not accessible for measurement. We propose a control law leading the whole system to the prescribed rest state within a finite time period.

中文翻译：

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承载具有未知相位状态的弹性链接的平台的运动控制

摘要

我们考虑了平台受控运动的问题，使得带有耗散振荡器的固体通过弹簧固定在平台上。平台在控制力的作用下沿水平线移动，同时也受到有限的不受控制的摄动（例如干摩擦力）的作用。假设无法访问振荡器的相位状态以进行测量。我们提出了一个控制律，可以在有限的时间内将整个系统引导至规定的静止状态。