Control of a Rigid Body Carrying Dissipative Oscillators under Perturbations

Resumo

This paper considers a system consisting of a carrier body and two linear dissipative oscillators attached to it. The body moves in a straight horizontal line under the action of a bounded control force and a small unknown perturbation. It is assumed that the coordinate and velocity of the body are known at all times and the phase states of the oscillators cannot be measured. A control law which stops the carrier body at the origin of coordinates in finite time is proposed. The effectiveness of the proposed control law is illustrated by numerical modeling.