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Adaptive tracking control of Euler–Lagrange systems with bounded controls
Author(s) -
LópezAraujo Daniela,
Loría Antonio,
ZavalaRío Arturo
Publication year - 2017
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.2697
Subject(s) - control theory (sociology) , bounded function , robustness (evolution) , mathematics , nonlinear system , adaptive control , convergence (economics) , tracking error , controller (irrigation) , computer science , control (management) , mathematical analysis , biochemistry , chemistry , physics , quantum mechanics , artificial intelligence , biology , agronomy , economics , gene , economic growth
Summary 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. Copyright © 2016 John Wiley & Sons, Ltd.