Título

Adaptive tracking control of Euler-Lagrange systems with bounded controls

Autor

DANIELA JUANITA LOPEZ ARAUJO

LUIS ANTONIO LORIA CASTRO

Arturo Zavala Río

Nivel de Acceso

Acceso Abierto

Licencia

http://creativecommons.org/licenses/by-nc-nd/4.0

Identificador alterno

doi: https://doi.org/10.1002/acs.2697

Materias

Adaptive control - (AUTOR) Persistency of excitation - (AUTOR) Bounded inputs - (AUTOR) CIENCIAS FÍSICO MATEMÁTICAS Y CIENCIAS DE LA TIERRA - (CTI) MATEMÁTICAS - (CTI) MATEMÁTICAS - (CTI)

Resumen o descripción

"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 asymptotic stability. Therefore, our control scheme ensures robustness with respect to bounded perturbations and uniform convergence of the estimation errors for any initial conditions."

Editor

Wiley

Fecha de publicación

2016

Tipo de publicación

Artículo

Versión de la publicación

Versión enviada

Recurso de información

http://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/1738

Formato

application/pdf

Sugerencia de citación

López-Araujo, D., Loría, A., and Zavala-Río, A. (2017) Adaptive tracking control of Euler-Lagrange systems with bounded controls. Int. J. Adapt. Control Signal Process., 31: 299-313. doi: 10.1002/acs.2697

Repositorio Orígen

Repositorio IPICYT

Descargas

335