帮助 关于我们

返回检索结果

Trajectory Tracking Control of Euler-Lagrange Systems with ISS-Like Robustness to Actuator Noises

查看参考文献48篇

Wu Haiwen 1,2   Xu Dabo 3  
文摘 This paper studies global robust tracking of uncertain Euler-Lagrange systems with input disturbances. The authors develop a robust regulation-based approach for the problem. Specifically, by introducing a novel nonlinear internal model, the authors solve global asymptotic trajectory tracking with disturbance rejection of multiple step/sinusoidal signals with unknown amplitudes, frequencies, and phases. Moreover, the authors show that a robustness property to actuator noises can be guaranteed in a sense of strong integral input-to-state stability(iISS). That is, the closed-loop system is not only iISS but also input-to-state stable(ISS)to small magnitude actuator noises. Furthermore, the authors explore a by-product overparametrized linear regression estimation, coming up with robust estimation of the unknown parameters. Finally, the authors present several numerical examples to illustrate the theoretical results.
来源 Journal of Systems Science and Complexity ,2022,35(5):1719-1747 【核心库】
DOI 10.1007/s11424-022-0219-4
关键词 Disturbance rejection ; Euler-Lagrange systems ; nonlinear control ; robust control ; trajectory tracking
地址

1. School of Automation, Nanjing University of Science and Technology, Nanjing, 210094  

2. Engineering and Technology Institute Groningen, Faculty of Science and Engineering, University of Groningen, The Netherlands, Groningen, 9747  

3. Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, 511442

语种 英文
文献类型 研究性论文
ISSN 1009-6124
学科 自动化技术、计算机技术
基金 国家自然科学基金 ;  supported by the China Scholarship Council
文献收藏号 CSCD:7394053

参考文献 共 48 共3页

1.  Ortega R. Passivity-Based Control of Euler-Lagrange Systems: Mechanical, Electrical and Electromechanical Applications,1998 CSCD被引 4 次    
2.  Slotine J J E. Applied Nonlinear Control,1991 CSCD被引 242 次    
3.  Spong M W. Robot Modeling and Control,2006 CSCD被引 37 次    
4.  Craig J J. Adaptive control of mechanical manipulators. The International Journal of Robotics Research,1987,6(2):16-28 CSCD被引 11 次    
5.  Middleton R H. Adaptive computed torque control for rigid link manipulations. Systems & Control Letters,1988,10(1):9-16 CSCD被引 4 次    
6.  Spong M W. On adaptive inverse dynamics control of rigid robots. IEEE Transactions on Automatic Control,1990,35(1):92-95 CSCD被引 7 次    
7.  Dawson D M. Comments on "On adaptive inverse dynamics control of rigid robots". IEEE Transactions on Automatic Control,1991,36(10):1215-1216 CSCD被引 2 次    
8.  Slotine J J E. On the adaptive control of robot manipulators. The International Journal of Robotics Research,1987,6(3):49-59 CSCD被引 50 次    
9.  Slotine J J E. Putting physics in control-The example of robotics. IEEE Control Systems Magazine,1988,8(6):12-18 CSCD被引 1 次    
10.  Leal R L. Passivity based adaptive control for mechanical manipulators using LS-type estimation. IEEE Transactions on Automatic Control,1990,35(12):1363-1365 CSCD被引 1 次    
11.  Tang Y. Adaptive control of robot manipulators based on passivity. IEEE Transactions on Automatic Control,1994,39(9):1871-1875 CSCD被引 2 次    
12.  Scherpen J M A. On nonlinear control of Euler-Lagrange systems: Disturbance attenuation properties. Systems & Control Letters,1997,30(1):49-56 CSCD被引 1 次    
13.  Tomei P. Tracking control of flexible joint robots with uncertain parameters and disturbances. IEEE Transactions on Automatic Control,1994,39(5):1067-1072 CSCD被引 3 次    
14.  Luo G L. Robust compensation for a robotic manipulator. IEEE Transactions on Automatic Control,1983,29(6):564-567 CSCD被引 1 次    
15.  Chen B S. A nonlinear H∞control design in robotic systems under parameter perturbation and external disturbance. International Journal of Control,1994,59(2):439-461 CSCD被引 13 次    
16.  Battilotti S. Adaptive disturbance attenuation with global stability for rigid and elastic joint robots. Automatica,1997,33(2):239-243 CSCD被引 4 次    
17.  Tomei P. Robust adaptive control of robots with arbitrary transient performance and disturbance attenuation. IEEE Transactions on Automatic Control,1999,44(3):654-658 CSCD被引 5 次    
18.  Mei K. Second-order sliding mode controller design with a larger domain of attraction. Journal of Systems Science & Complexity,2020,33(1):61-73 CSCD被引 2 次    
19.  Patre P M. Modular adaptive control of uncertain Euler-Lagrange systems with additive disturbances. IEEE Transactions on Automatic Control,2011,56(1):155-160 CSCD被引 4 次    
20.  Chen B S. Adaptive control in robotic systems with H∞tracking performance. Automatica,1997,33(2):227-234 CSCD被引 4 次    
引证文献 3 篇

1 Zheng Shiqi Periodic event-triggered secure consensus for networkedmechanical systems under Denial-of-Service attacks Control Theory and Technology,2024,22(1):1-13
CSCD被引 0 次

2 蔡国庆 基于CFD-DEM的流-固耦合数值建模方法研究进展 哈尔滨工业大学学报,2024,56(1):17-32
CSCD被引 6 次

显示所有3篇文献

论文科学数据集
PlumX Metrics
相关文献

 作者相关
 关键词相关
 参考文献相关

版权所有 ©2008 中国科学院文献情报中心 制作维护：中国科学院文献情报中心
地址：北京中关村北四环西路33号 邮政编码：100190 联系电话：(010)82627496 E-mail:cscd@mail.las.ac.cn 京ICP备05002861号-4 | 京公网安备11010802043238号