Adaptive Control of Euler-Lagrange Systems under Time-varying State Constraints without a Priori Bounded Uncertainty
Fuente:
arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2023
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| _version_ | 1866929517767950336 |
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| author | Sankaranarayanan, Viswa Narayanan Satpute, Sumeet Gajanan Roy, Spandan Nikolakopoulos, George |
| author_facet | Sankaranarayanan, Viswa Narayanan Satpute, Sumeet Gajanan Roy, Spandan Nikolakopoulos, George |
| contents | In this article, a novel adaptive controller is designed for Euler-Lagrangian systems under predefined time-varying state constraints. The proposed controller could achieve this objective without a priori knowledge of system parameters and, crucially, of state-dependent uncertainties. The closed-loop stability is verified using the Lyapunov method, while the overall efficacy of the proposed scheme is verified using a simulated robotic arm compared to the state of the art. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2311_00067 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Adaptive Control of Euler-Lagrange Systems under Time-varying State Constraints without a Priori Bounded Uncertainty Sankaranarayanan, Viswa Narayanan Satpute, Sumeet Gajanan Roy, Spandan Nikolakopoulos, George Systems and Control Robotics In this article, a novel adaptive controller is designed for Euler-Lagrangian systems under predefined time-varying state constraints. The proposed controller could achieve this objective without a priori knowledge of system parameters and, crucially, of state-dependent uncertainties. The closed-loop stability is verified using the Lyapunov method, while the overall efficacy of the proposed scheme is verified using a simulated robotic arm compared to the state of the art. |
| title | Adaptive Control of Euler-Lagrange Systems under Time-varying State Constraints without a Priori Bounded Uncertainty |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2311.00067 |