Event-Triggered Exponential Practical Tracking for Uncertain Euler-Lagrange Systems

被引：2
|
作者：
Liu, Wei [1 ]
Huang, Jie [2 ,3 ]
机构：
[1] South China Univ Technol, Sch Automat Sci & Engn, Guangzhou, Peoples R China
[2] Chinese Univ Hong Kong, Shenzhen Res Inst, Shenzhen, Peoples R China
[3] Chinese Univ Hong Kong, Dept Mech & Automat Engn, Shatin, Hong Kong, Peoples R China
来源：
2021 AMERICAN CONTROL CONFERENCE (ACC) | 2021年
基金：
中国国家自然科学基金;
关键词：
D O I：
10.23919/ACC50511.2021.9483278
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we consider the event-triggered exponential practical tracking problem for uncertain Euler-Lagrange systems. By using a modified adaptive control technique, we design a digitally implementable control law and a Zeno-free event-triggered mechanism to solve the problem. Both the position tracking error and the velocity tracking error are guaranteed to exponentially converge to an arbitrarily small prescribed neighborhood of the origin, and the convergence rate can be made arbitrarily fast.
引用
收藏
页数：6
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