Singular perturbation-based saturated adaptive control for underactuated Euler-Lagrange systems
文献类型：期刊论文
| 作者 | Sun, Tairen1; Zhang, Xuexin2; Yang, Hongjun3 ; Pan, Yongping4
|
| 刊名 | ISA TRANSACTIONS
 |
| 出版日期 | 2022 |
| 卷号 | 119页码:74-80 |
| 关键词 | Underactuated system Euler-Lagrange system Compliant robot Nonlinear control Adaptive control Control saturation Output regulation |
| ISSN号 | 0019-0578 |
| DOI | 10.1016/j.isatra.2021.02.036 |
| 通讯作者 | Pan, Yongping(panyongp@mail.sysu.edu.cn) |
| 英文摘要 | This paper proposes a saturated smooth adaptive controller for regulating a certain type of underactuated Euler-Lagrange systems (UELSs) with modeling uncertainties and control saturations based on a singular perturbation approach. Compared with relevent literature, the advantages of the proposed controller include: (1) it renders the UELS semiglobally asymptotically track the desired position without the violation of control input constraints; (2) high-order derivatives of positions are not required in its implementation. The Hoppensteadt's Theorem is employed to show that the proposed saturated controller renders the UELS semiglobally asymptotically stable about the desired set point with the satisfaction of control input constraints. The control effectiveness is validated by simulations on a two-link compliant robot arm. (C) 2021 ISA. Published by Elsevier Ltd. All rights reserved. |
| WOS关键词 | FLEXIBLE-JOINT ROBOTS ; SLIDING MODE CONTROL ; FEEDBACK-CONTROL ; MANIPULATORS ; STABILITY ; PERFORMANCE ; TRACKING |
| 资助项目 | National Key Research and Development Project[2019YFB1312500] ; National Natural Science Foundation of China[62073156] ; National Natural Science Foundation of China[62073319] ; National Natural Science Foundation of China[61703295] ; Fundamental Research Funds for the Central Universities of China[19lgzd40] |
| WOS研究方向 | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:000722275100007 |
| 出版者 | ELSEVIER SCIENCE INC |
| 资助机构 | National Key Research and Development Project ; National Natural Science Foundation of China ; Fundamental Research Funds for the Central Universities of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/46545]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | Pan, Yongping |
| 作者单位 | 1.Jiangsu Univ, Sch Elect Informat & Engn, Zhenjiang 212013, Jiangsu, Peoples R China 2.Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai 200444, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 4.Sun Yat Sen Univ, Sch Comp Sci & Engn, Guangzhou 510006, Peoples R China |
| 推荐引用方式 GB/T 7714 | Sun, Tairen,Zhang, Xuexin,Yang, Hongjun,et al. Singular perturbation-based saturated adaptive control for underactuated Euler-Lagrange systems[J]. ISA TRANSACTIONS,2022,119:74-80. |
| APA | Sun, Tairen,Zhang, Xuexin,Yang, Hongjun,&Pan, Yongping.(2022).Singular perturbation-based saturated adaptive control for underactuated Euler-Lagrange systems.ISA TRANSACTIONS,119,74-80. |
| MLA | Sun, Tairen,et al."Singular perturbation-based saturated adaptive control for underactuated Euler-Lagrange systems".ISA TRANSACTIONS 119(2022):74-80. |
入库方式： OAI收割
来源：自动化研究所
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