Tackling mismatched uncertainty in robust constraint-following control of underactuated systems

被引:35
|
作者
Yin, Hui [1 ]
Chen, Ye-Hwa [2 ]
Huang, Jin [3 ]
Lu, Hui [1 ]
机构
[1] South China Univ Technol, Sch Mech & Automot Engn, Guangzhou 510641, Guangdong, Peoples R China
[2] Georgia Inst Technol, George W Woodruff Sch Mech Engn, Atlanta, GA 30332 USA
[3] Tsinghua Univ, Sch Vehicle & Mobil, Beijing 100084, Peoples R China
基金
中国博士后科学基金; 中国国家自然科学基金;
关键词
Underactuated system; Mismatched uncertainty; Constraint-following; Robust control; Lyapunov stability; Mobile robot; SLIDING-MODE CONTROL; TRAJECTORY-TRACKING; INVERTED PENDULUM; ADAPTIVE-CONTROL; CONTROL DESIGN; CONTROLLABILITY; IMPLEMENTATION; DYNAMICS; VEHICLES; LEAKAGE;
D O I
10.1016/j.ins.2020.02.033
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
The mismatched uncertainty makes the control for underactuated systems an intractable problem in the control field. This paper targets this problem based on constraint-following. The uncertainty is (possibly fast) time-varying and bounded. The control goal is to drive underactuated systems to follow prescribed constraints, which may be holonomic or non-holonomic, linear or nonlinear with respect to the velocity. The control is designed in two steps. First, the nominal control without addressing uncertainties and initial condition deviations is investigated. Second, we meticulously decompose uncertainty into matched and mismatched portions. This decomposition makes the mismatched uncertainty "disappear" in the stability analysis. Consequently, we are able to design a class of robust constraint-following controls free from mismatched uncertainty and only based on matched uncertainty. By the Lyapunov approach, we show that the proposed robust controls guarantee uniform boundedness and uniform ultimate boundedness for underactuated systems. Simulation results on a mobile robot are given for demonstrations. (c) 2020 Elsevier Inc. All rights reserved.
引用
收藏
页码:337 / 352
页数:16
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