Constraint‐following servo control for uncertain flexible transmission system with damping

Abstract

Due to the flexible components, damping, underactuation, and uncertainties, the control for flexible transmission system (FTS) becomes very difficult. A constraint‐following servo control is designed to address this issue. The damping and applied load of system are integrated into the constraints, so that the desired performance could be achieved by accomplishing the constraints with Udwadia–Kalaba (U–K) equation. The system is divided into two subsystems by introducing a designed fictitious control to the load end, and the controllers of subsystems are designed, respectively. Since the accurate value of uncertainty is usually unknown, a corresponding leakage type of adaptive law is designed to estimate the size of its boundary without requiring the uncertainty itself. The effectiveness and superiority of proposed controller are verified by simulations.