Adaptive Control of Euler-Lagrange Systems under Time-varying State Constraints without a Priori Bounded Uncertainty
Abstract
In this article, a novel adaptive controller is designed for Euler-Lagrangian systems under predefined time-varying state constraints. The proposed controller could achieve this objective without a priori knowledge of system parameters and, crucially, of state-dependent uncertainties. The closed-loop stability is verified using the Lyapunov method, while the overall efficacy of the proposed scheme is verified using a simulated robotic arm compared to the state of the art.
- Publication:
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arXiv e-prints
- Pub Date:
- October 2023
- DOI:
- 10.48550/arXiv.2311.00067
- arXiv:
- arXiv:2311.00067
- Bibcode:
- 2023arXiv231100067N
- Keywords:
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- Electrical Engineering and Systems Science - Systems and Control;
- Computer Science - Robotics
- E-Print:
- Preprints of the 22nd IFAC World Congress, Yokohama, Japan, July 9-14, 2023