Robust Control of Euler-Lagrange Mechanical Systems with Decentralized Adaptive Scheme

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, Taiwan
来源：
2016 INTERNATIONAL AUTOMATIC CONTROL CONFERENCE (CACS) | 2016年
关键词：
STABILIZATION; DESIGN;
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：
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 system to be uniformly ultimate stable and the tracking error to be convergent with exponential rate. Finally, a numerical example is given to demonstrate the validity of the results.
引用
收藏
页码：227 / 231
页数：5
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