A generalized Udwadia–Kalaba control design for uncertain belt conveyor systems with inequality constraints.

Uncertainty can lead to jitter or overshoot in mechanical systems, necessitating the design of multiple constraints to stabilize them. This paper proposes a control structure based on the generalized Udwadia–Kalaba equation to address these constraints simultaneously. An uncertain dynamical model is developed, incorporating both equality and inequality constraints. By integrating diffeomorphism theory, a robust control strategy is designed to ensure compliance with these constraints. Utilizing the Lyapunov approach, the uniform boundedness and uniform ultimate boundedness of the dynamical system are demonstrated. Finally, the feasibility of the proposed control method is validated through its application to a belt conveyor system. • Equality constraints and inequality constraints are simultaneously considered in dynamical system based on the generalized Udwadia–Kalaba approach. • A robust control for handling inequality constraints that does not affect equality constraints is designed. • The robust control can render the uncertain system uniformly bounded and uniformly ultimately bounded. • The method is proposed of applying inequality constraints to belt conveyors to avoid belt breakage and folding faults in engineering. [ABSTRACT FROM AUTHOR]