Adaptive tracking control of Euler–Lagrange systems with bounded controls

Daniela López-Araujo (1) , Antonio Loria (2) , Arturo Zavala-Río (1)

1 IPICYT - Instituto Potosino de Investigacion Cientifica y Tecnologica
2 L2S - Laboratoire des signaux et systèmes

We solve the simultaneous closed-loop identification and tracking-control problems for fully-actuated Euler–Lagrange systems under input constraints. We use a nonlinear adaptive controller reminiscent of computed-torque-type controllers in which linear correction terms are saturated in order to comply with the imposed bounds on the control inputs. Adaptation, reminiscent of gradient methods, is used also with saturation. With respect to related literature, our contribution consists in establishing uniform global asymp-totic stability. Therefore, our control scheme ensures robustness with respect to bounded perturbations and uniform convergence of the estimation errors for any initial conditions.

Mots clés: adaptive control; bounded inputs; persistency of excitation

Domaines: Automatique

Daniela López-Araujo, Antonio Loria, Arturo Zavala-Río. Adaptive tracking control of Euler–Lagrange systems with bounded controls. International Journal of Adaptive Control and Signal Processing, 2017, 31 (3), pp.299-313. ⟨10.1002/acs.2697⟩. ⟨hal-01357210⟩