Ibrahim M. Mehedi1,2,*, Mohd Heidir Mohd Shah1
, Soon Xin Ng3
, Abdulah Jeza Aljohani1,2,
Mohammed El-Hajjar3, Muhammad Moinuddin1,2
CMC-Computers, Materials & Continua, Vol.70, No.3, pp. 4691-4705, 2022, DOI:10.32604/cmc.2022.020954
Abstract
This paper presents the design and implementation of Adaptive Generalized Dynamic Inversion (AGDI) to track the position of a Linear Flexible Joint Cart (LFJC) system along with vibration suppression of the flexible joint. The proposed AGDI control law will be comprised of two control elements. The baseline (continuous) control law is based on principle of conventional GDI approach and is established by prescribing the constraint dynamics of controlled state variables that reflect the control objectives. The control law is realized by inverting the prescribed dynamics using dynamically scaled Moore-Penrose generalized inversion. To boost the robust attributes against system nonlinearities, parametric… More >
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