Decentralized Adaptive Control of Euler-Lagrange Mechanical System

被引：0
|
作者：
Cheng, Cheng-Fa [1 ]
Chen, Tse-Han [1 ]
机构：
[1] Natl Taiwan Ocean Univ, Dept Commun Nav & Control Engn, Keelung 20224, Taiwan
来源：
PROCEEDINGS OF THE 2ND INTERNATIONAL CONFERENCE ON INTELLIGENT TECHNOLOGIES AND ENGINEERING SYSTEMS (ICITES2013) | 2014年 / 293卷
关键词：
Euler-Lagrange equations; Decentralized control; Adaptive; Uniformly ultimate; JUMP PARAMETER-SYSTEMS; ROBUST-CONTROL;
D O I：
10.1007/978-3-319-04573-3_93
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The problem of decentralized control Euler-Lagrange like mechanical systems with high-order interconnections is investigated in this paper. A new decentralized adaptation scheme is proposed to estimate the unknown structure bounds. Then, a decentralized adaptive controller is constructed to guarantee the uniformly ultimate boundedness of the system and the exponential convergence of the tracking error. Finally, a numerical example is given to demonstrate the validity of the results.
引用
收藏
页码：749 / 755
页数：7
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