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Control of a cart with viscoelastic links under uncertainty

Igor Ananievski
A control problem for a system, consisting of a rigid body with one or several viscoelastic links is considered. Such a system is modelled as a cart with linear dissipative oscillators attached to it. The cart moves along a horizontal line under the action of a control force and unknown disturbance, for example, a medium resistance, the parameters of which are unknown and may vary. The phase states of the oscillators are assumed to be unavailable for measuring. A bounded feedback control which brings the cart to a prescribed terminal state in a finite time is proposed.
CYBERNETICS AND PHYSICS, Vol. 6, No. 4, pp.160-165
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