Singular perturbation-based saturated adaptive control for underactuated Euler-Lagrange systems

doi:10.1016/j.isatra.2021.02.036

	Singular perturbation-based saturated adaptive control for underactuated Euler-Lagrange systems
	Sun, Tairen 1; Zhang, Xuexin 2; Yang, Hongjun3 ; Pan, Yongping 4
发表期刊	ISA TRANSACTIONS
ISSN	0019-0578
	2022
卷号	119 页码:74-80
通讯作者	Pan, Yongping(panyongp@mail.sysu.edu.cn)
摘要	This paper proposes a saturated smooth adaptive controller for regulating a certain type of underactuated Euler-Lagrange systems (UELSs) with modeling uncertainties and control saturations based on a singular perturbation approach. Compared with relevent literature, the advantages of the proposed controller include: (1) it renders the UELS semiglobally asymptotically track the desired position without the violation of control input constraints; (2) high-order derivatives of positions are not required in its implementation. The Hoppensteadt's Theorem is employed to show that the proposed saturated controller renders the UELS semiglobally asymptotically stable about the desired set point with the satisfaction of control input constraints. The control effectiveness is validated by simulations on a two-link compliant robot arm. (C) 2021 ISA. Published by Elsevier Ltd. All rights reserved.
关键词	Underactuated system Euler-Lagrange system Compliant robot Nonlinear control Adaptive control Control saturation Output regulation
DOI	10.1016/j.isatra.2021.02.036
关键词[WOS]	FLEXIBLE-JOINT ROBOTS ; SLIDING MODE CONTROL ; FEEDBACK-CONTROL ; MANIPULATORS ; STABILITY ; PERFORMANCE ; TRACKING
收录类别	SCI
语种	英语
资助项目	National Key Research and Development Project[2019YFB1312500] ; National Natural Science Foundation of China[62073156] ; National Natural Science Foundation of China[62073319] ; National Natural Science Foundation of China[61703295] ; Fundamental Research Funds for the Central Universities of China[19lgzd40]
项目资助者	National Key Research and Development Project ; National Natural Science Foundation of China ; Fundamental Research Funds for the Central Universities of China
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS类目	Automation & Control Systems ; Engineering, Multidisciplinary ; Instruments & Instrumentation
WOS记录号	WOS:000722275100007
出版者	ELSEVIER SCIENCE INC
引用统计	被引频次：8[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/46546
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Pan, Yongping
作者单位	1.Jiangsu Univ, Sch Elect Informat & Engn, Zhenjiang 212013, Jiangsu, Peoples R China 2.Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai 200444, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 4.Sun Yat Sen Univ, Sch Comp Sci & Engn, Guangzhou 510006, Peoples R China
推荐引用方式 GB/T 7714	Sun, Tairen,Zhang, Xuexin,Yang, Hongjun,et al. Singular perturbation-based saturated adaptive control for underactuated Euler-Lagrange systems[J]. ISA TRANSACTIONS,2022,119:74-80.
APA	Sun, Tairen,Zhang, Xuexin,Yang, Hongjun,&Pan, Yongping.(2022).Singular perturbation-based saturated adaptive control for underactuated Euler-Lagrange systems.ISA TRANSACTIONS,119,74-80.
MLA	Sun, Tairen,et al."Singular perturbation-based saturated adaptive control for underactuated Euler-Lagrange systems".ISA TRANSACTIONS 119(2022):74-80.