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Singular perturbation-based saturated adaptive control for underactuated Euler-Lagrange systems
Sun, Tairen1; Zhang, Xuexin2; Yang, Hongjun3; Pan, Yongping4
Source PublicationISA TRANSACTIONS
ISSN0019-0578
2022
Volume119Pages:74-80
Corresponding AuthorPan, Yongping(panyongp@mail.sysu.edu.cn)
AbstractThis 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.
KeywordUnderactuated system Euler-Lagrange system Compliant robot Nonlinear control Adaptive control Control saturation Output regulation
DOI10.1016/j.isatra.2021.02.036
WOS KeywordFLEXIBLE-JOINT ROBOTS ; SLIDING MODE CONTROL ; FEEDBACK-CONTROL ; MANIPULATORS ; STABILITY ; PERFORMANCE ; TRACKING
Indexed BySCI
Language英语
Funding ProjectNational 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]
Funding OrganizationNational Key Research and Development Project ; National Natural Science Foundation of China ; Fundamental Research Funds for the Central Universities of China
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Multidisciplinary ; Instruments & Instrumentation
WOS IDWOS:000722275100007
PublisherELSEVIER SCIENCE INC
Citation statistics
Cited Times:8[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/46546
Collection复杂系统认知与决策实验室_先进机器人
Corresponding AuthorPan, Yongping
Affiliation1.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
Recommended Citation
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.
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