Modular Adaptive Control of Uncertain Euler–Lagrange Systems With Additive Disturbances

Patre, Parag; MacKunis, William; Dupree, K.; Dixon, Warren E.

doi:10.1109/tac.2010.2081770

Cited by 83 publications

(42 citation statements)

References 28 publications

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“…Inequality (27) shows V (t) V (0) in N 1 , hence, all the the signals e 1 , e 2 , ρ,Θ on the right-hand side of function (24) are bounded in N 1 . From the definition of e 1 , e 2 , ρ, Θ, we knowė 1 = e 2 − α 1 e 1 ,ė 2 = ρ − α 2 e 2 ,Θ = Θ −Θ, therefore, we can further getė 1 ,ė 2 ,Θ ∈ L ∞ in N 1 .…”

Section: Theoremmentioning

confidence: 98%

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Adaptive motion/force control of nonholonomic mechanical systems with affine constraints

Sun

2014

NAMC

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Abstract. The motion/force tracking control of nonholonomic mechanical systems with affine constraints is investigated in this paper. In the procedure of control design, by flexibly using the algebra processing technique, constraint forces are successfully canceled in the dynamic equations, and then an integral feedback compensation strategy and an adaptive scheme are applied to identify the dynamic uncertainty. It is shown that the proposed controller ensures the position state of the closed-loop system asymptotically tracks the desired trajectory and the force tracking error has a controllable bound. Finally, a boat on a running river as a simulation example is given to show the effectiveness of the control scheme.

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Section: Theoremmentioning

confidence: 98%

“…To achieve the desired control objective, the following filtered tracking errors [25,27], denoted by e 2 , ρ ∈ R n−m , are defined as…”

Section: Error System Developmentmentioning

confidence: 99%

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Adaptive motion/force control of nonholonomic mechanical systems with affine constraints

Sun

2014

NAMC

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“…The unknown disturbance represents unsteady nonlinear aerodynamic effects. A NN is used as a feedforward control term to compensate for the unknown nonlinear disturbance and a RISE feedback term [16][17][18] ensures asymptotic tracking of a desired state trajectory. A RISE-like controller was also recently developed in Ref.…”

Section: Introductionmentioning

confidence: 99%

Tracking Control of Limit Cycle Oscillations in an Aero-Elastic System

Bialy

Pasiliao

Dinh

et al. 2014

Journal of Dynamic Systems, Measurement, and Control

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Limit cycle oscillations (LCOs) affect current fighter aircraft and are expected to be present on next generation fighter aircraft. Current efforts in control systems designed to suppress LCO behavior have either used a linear model, restricting the flight regime, require exact knowledge of the system dynamics, or require uncertainties in the system dynamics to be linear-in-theparameters and only present in the torsional stiffness. Furthermore, the aerodynamic model used in prior research efforts neglects nonlinear effects. This paper presents the development of a controller consisting of a continuous robust integral of the sign of the error (RISE) feedback term with a neural network (NN) feedforward term to achieve asymptotic tracking of uncertainties that do not satisfy the linear-in-the-parameters assumption. Simulation results are presented to validate the performance of the developed controller.

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“…A brief survey of nonlinear damping-based modular adaptive control results is provided in [7]. Another approach was investigated in [16] by designing a robust control law using the RISE (robust integral of the sign of the error [17]) feedback method, such that a generic form of an update law in terms of tracking errors could be used.…”

Section: Introductionmentioning

confidence: 99%

On using exponential parameter estimators with an adaptive controller

Patre

Joshi

2011

2011 IEEE International Conference on Control Applications (CCA)

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Abstract-Typical adaptive controllers are restricted to using a specific update law to generate parameter estimates. This paper investigates the possibility of using any exponential parameter estimator with an adaptive controller such that the system tracks a desired trajectory. The goal is to provide flexibility in choosing any update law suitable for a given application. The development relies on a previously developed concept of controller/update law modularity in the adaptive control literature, and the use of a converse Lyapunov-like theorem. Stability analysis is presented to derive gain conditions under which this is possible, and inferences are made about the tracking error performance. The development is based on a class of Euler-Lagrange systems that are used to model various engineering systems including space robots and manipulators.

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Modular Adaptive Control of Uncertain Euler–Lagrange Systems With Additive Disturbances

Cited by 83 publications

References 28 publications

Adaptive motion/force control of nonholonomic mechanical systems with affine constraints

Adaptive motion/force control of nonholonomic mechanical systems with affine constraints

Tracking Control of Limit Cycle Oscillations in an Aero-Elastic System

On using exponential parameter estimators with an adaptive controller

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