A problem of feedback stabilization is addressed for a class of uncertain nonlinear mechanical systems with degrees of freedom and control inputs. Each system of the class has the structure of two coupled subsystems with and degrees of freedom, respectively, a prototype being an uncertain base isolated building structure with degrees of freedom actively controlled via actuators applying forces to specific degrees of freedom of the base movement, in number. A nonlinear adaptive feedback strategy is described, which, under appropriate assumptions on the system uncertainties, guarantees a form of practical stability of the zero state. Numerical simulations are also presented to illustrate the application of the control strategy to a base isolated building.

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Published on 01/01/1994

Licence: CC BY-NC-SA license

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