Adaptive tracking control of Euler–Lagrange systems with bounded controls

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.
Document type :
Journal articles
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

Identifiers

Citation

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

Share

Metrics

Record views

167