On the design of a robust adaptive tracking control scheme for a nano-cantilever beam

An adaptive robust tracking control scheme for a nanomechanical beam under the presence of parametric uncertainties and external disturbances is presented in this article. In the present structure, both fringing field effects and intermolecular forces, like Casimir ones are incorporated in the system´s modeling. The controller is enhanced with an adaptive dynamic surface technique and an H_∞ control scheme and is developed to reduce the influence of the parameter uncertainties and external disturbances. In order to check the effectiveness of the designed controller, simulation results are presented. These results show that the desired transient output tracking performance is achieved and also that, the closed loop system exhibits good robustness to system uncertainties. Particular attention, has been paid, so that to identify any relevance between the changes in the controller´s design parameters and the system´s performance.