Artificial-Delay Adaptive Control for Underactuated Euler-Lagrange Robotics

被引：38
|
作者：
Roy, Spandan [1 ]
Baldi, Simone [2 ,3 ]
Li, Peng [2 ]
Sankaranarayanan, Viswa N. [1 ]
机构：
[1] Int Inst Informat Technol Hyderabad, Robot Res Ctr, Hyderabad 500032, Telangana, India
[2] Southeast Univ, Sch Cyber Sci & Engn, Nanjing 211189, Peoples R China
[3] Delft Univ Technol, Delft Ctr Syst & Control, NL-2600 AA Delft, Netherlands
来源：
IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2021年 / 26卷 / 06期
关键词：
Robots; Vehicle dynamics; Delays; Upper bound; Uncertainty; System dynamics; Standards; Artificial-delay control; Euler-Lagrange (EL) systems; time delay estimation (TDE); underactuated robotics; SLIDING-MODE CONTROL; MOTION CONTROL; TIME; SYSTEMS; SHIP; DESIGN; CRANES;
D O I：
10.1109/TMECH.2021.3052068
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Artificial-delay control is a method in which state and input measurements collected at an immediate past time instant (i.e., artificially delayed) are used to compensate the uncertain dynamics affecting the system at the current time. This article formulates an artificial-delay control method with adaptive gains in the presence of nonlinear (Euler-Lagrange) underactuation. The appeal of studying Euler-Lagrange dynamics is to capture many robotics applications of practical interest, as demonstrated via stability and robustness analysis and via robotic ship and robotic aerial vehicle test cases.
引用
收藏
页码：3064 / 3075
页数：12
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