Switching Tracking Control For Disturbed Euler-Lagrange Systems

Most of the systems in mechanism and electronics can be described by EulerLagrange equation whose control problems have been the focus of control theory and engineering.In this paper,adaptive switching tracking problem for a class of uncertain Euler-Lagrange system,and modeling and tracking control for a class of cart-pendulum system driven by DC motor are investigated.Specifically,for a class of Euler-Lagrange systems with unknown periodic disturbance,the vector backstepping control design method,together with the disturbance learning mechanism and switching mechanism,has been used to design an state feedback adaptive switching controller whose parameters being adjusted on line by certain switching mechanism.The proposed controller ensures that all the states of the closed-loop system are bounded while the system output tracks the given reference signal.For a class of cart-pendulum systems driven by DC motor,the case that both the mechanical and electrical parts are suffered by the disturbances is considered.By using the dynamic and static method,the relative motion principle and the equivalent circuit,an accurate model is established for the cart-pendulum system affected by disturbance.Combining the vector backstepping design method with the disturbance learning and switching compensation mechanism,a switching tracking controller is explicitly designed which ensures that all states of the closed-loop system are bounded while the output of the system tracks the given reference signal.Finally,simulation examples is provided to verify the effectiveness of the theoretical results.