Motion Control for Platforms Bearing Elastic Links with Unknown Phase States

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.