Saturated RISE Feedback Control for Euler-Lagrange Systems

被引：0

作者：

Fischer, N. ^{[1
]}

Kan, Z. ^{[1
]}

Dixon, W. E. ^{[1
]}

机构：

[1] Univ Florida, Dept Mech & Aerosp Engn, Gainesville, FL 32610 USA

来源：

2012 AMERICAN CONTROL CONFERENCE (ACC) | 2012年

关键词：

VARIABLE-STRUCTURE CONTROL; ROBOT MANIPULATORS; FEEDFORWARD SYSTEMS; NONLINEAR CONTROL; TRACKING; STABILITY;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper examines saturated control of a class of uncertain, nonlinear Euler-Lagrange systems which includes time-varying and nonlinearly parametrized functions with bounded disturbances using a continuous control law utilizing smooth saturation functions. The bounds on the control are known a priori and can be adjusted by changing the feedback gains. The saturated controller is shown to guarantee semi-global asymptotic tracking despite uncertainties in the dynamics.

引用

页码：244 / 249

页数：6

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