Adaptive tracking control of Euler–Lagrange systems with bounded controls

Daniela López-Araujo; Antonio Loría; Arturo Zavala-Río

Adaptive tracking control of Euler–Lagrange systems with bounded controls

Daniela López-Araujo ¹ Antonio Loría ² Arturo Zavala-Río ¹

1 IPICYT - Instituto Potosino de Investigacion Cientifica y Tecnologica

2 L2S - Laboratoire des signaux et systèmes

Abstract : 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.

Keywords : adaptive control bounded inputs persistency of excitation

Document type :

Journal articles

Domain :

Computer Science [cs] / Automatic Control Engineering

Complete list of metadatas

Cited literature [18 references] Display Hide Download

https://hal.archives-ouvertes.fr/hal-01357210
Contributor : Antonio Loria <>
Submitted on : Tuesday, August 30, 2016 - 7:26:53 PM
Last modification on : Thursday, April 5, 2018 - 12:30:05 PM

Adaptive tracking control of Euler–Lagrange systems with bounded controls

Identifiers

Collections

Citation

Export

Metrics

167

Contact

Adaptive tracking control of Euler–Lagrange systems with bounded controls

Identifiers

Collections

Citation

Export

Share

Metrics

167

Contact