2021
DOI: 10.1177/09596518211046692
|View full text |Cite
|
Sign up to set email alerts
|

High-gain PI-like control of Euler–Lagrange mechanical systems: Simulations and experiments in 2DoF robotic manipulators

Abstract: Euler–Lagrange mechanical systems usually possess nonlinear models, which are subject to uncertainties and unknown disturbances. In this article, a robust but smooth controller is proposed, relying on a high-gain proportional–integral structure that renders an accurate tracking, even in the case of uncertain effects. The tracking performance can be improved by adjusting a single parameter, deriving into a prescribed stability regime, where the tracking errors are locally uniformly ultimately bounded, and where… Show more

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...
1

Citation Types

0
1
0

Year Published

2022
2022
2022
2022

Publication Types

Select...
1

Relationship

0
1

Authors

Journals

citations
Cited by 1 publication
(1 citation statement)
references
References 45 publications
0
1
0
Order By: Relevance
“…Naturally, the explained approach has a number of useful properties, for instance see Refs. [ 31 , 32 , 33 ].…”
Section: System Representationmentioning
confidence: 99%
“…Naturally, the explained approach has a number of useful properties, for instance see Refs. [ 31 , 32 , 33 ].…”
Section: System Representationmentioning
confidence: 99%