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Paper details
Number 1 - March 2025
Volume 35 - 2025
A robust asymptotic tracking controller for an uncertain 2DOF underactuated mechanical system motivated by a satellite attitude control problem
Zbigniew Emirsajłow, Tomasz Barciński
Abstract
The paper is devoted to the theoretical problem of designing a robust asymptotic tracking control system for a rotational
motion of a 2DOF underactuated linear mechanical system with parametric uncertainties. The mathematical formulation of
the problem is motivated by the attitude control problem of an earth observation satellite with a solar panel. It is assumed
that all the parameters of the plant model are uncertain and the plant single input is additively disturbed by an unknown
constant torque. By employing the general regulator theory in the state space setup combined with the concept of the
structured singular value, we develop a robustly stabilizing and robustly asymptotically tracking error feedback controller.
The rotation of the main rigid body of the mechanical system is to asymptotically track a harmonically changing reference
signal. The obtained theoretical results are successfully tested on two numerical examples and computations are performed
in Matlab.
Keywords
underactuated 2DOF mechanical system, rotational motion control, robust asymptotic tracking, robust error feedback controller