Iterative feedback tuning for optimal repetitive constraint‐following control of uncertain mechanical systems using Udwadia–Kalaba theory

This article presents a novel optimal constraint-following controller for uncertain mechanical systems (MSs). The MS's uncertainty is unknown (possibly time-varying) and bounded, but the bound unspecified. Employing frame of Udwadia–Kalaba theory, we design robust with two tunable control gains MSs, which guarantees some deterministic performances. Assuming constraints to be holonomic periodic, transform controlled MSs introduce an iterative feedback tuning method optimizing proposed controller. After optimization, final scheme can achieve equilibrium between system performance cost arbitrary single constraint period. Simulations on two-link rotational manipulator are provided at last demonstrate approach.