Closed-loop identification and tracking control of Lagrangian systems under input constraints

Abstract : In this paper global tracking and parameter convergence are proven for an adaptive control algorithm with independently saturated proportional and derivative terms through a persistency of excitation condition, while guaranteeing the inputs to never reach their natural saturation limit. As far as the authors are aware this is the first work that achieves globally the motion control objective and system identification, avoiding actuator saturation.
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Submitted on : Tuesday, August 30, 2016 - 7:30:05 PM
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Daniela López-Araujo, Antonio Loría. Closed-loop identification and tracking control of Lagrangian systems under input constraints. 54th IEEE Conference on Decision and Control (CDC), Dec 2015, Osaka, Japan. pp.6966 - 6971, ⟨10.1109/CDC.2015.7403317⟩. ⟨hal-01357323⟩

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