Highlights The proposed control method can easily circumvent the limitations of the traditional I&I method without any information about the bounds of system uncertainties. By virtue of the dynamic scaling technic, the proposed control scheme ensures the asymptotic convergence of tracking errors for all possible initial conditions and requires much less extension on extra closed-loop states. Moreover, the “parameter lock” property in the filter-based method is also obtained in our method without satisfying the initial value constraint.
Abstract This paper presents a computation efficient Immersion and Invariance (I&I) adaptive control method for the tracking control problem of Euler–Lagrange mechanical systems with parametric uncertainties. By employing a generalized velocity observer, the proposed controller retains the basic advantages of the I&I design and requires much less extension on extra closed-loop system states when compared with the frequently used filter-based I&I adaptive control method, and the initial value constraint in the filer-based I&I to achieve “parameter lock” is also removed. Compared with the existing dynamic-scaling-based I&I adaptive control methods, the requirement of the priori knowledge on the exact bounds of unknown parameters is avoided. In addition, the dynamic gains in the proposed control method have linear relationship with the scaling factor instead of quadric, which could reduce the growth speed of the dynamic gains and avoid possible closed-loop performance degradation.
Inertia-free computation efficient immersion and invariance adaptive tracking control for Euler-Lagrange mechanical systems with parametric uncertainties
Advances in Space Research ; 66 , 8 ; 1902-1910
2020-07-06
9 pages
Article (Journal)
Electronic Resource
English
Dynamically Scaled Immersion and Invariance Adaptive Control for Euler-Lagrange Mechanical Systems
Online Contents | 2017
|Dynamically Scaled Immersion and Invariance Adaptive Control for Euler-Lagrange Mechanical Systems
Online Contents | 2017
|