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Singular perturbation-based saturated adaptive control for underactuated Euler-Lagrange systems.

Tairen Sun1, Xuexin Zhang2, Hongjun Yang3

  • 1School of Electrical Information and Engineering, Jiangsu University, Zhenjiang 212013, China.

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|March 8, 2021
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Summary
This summary is machine-generated.

This study introduces a novel saturated smooth adaptive controller for underactuated Euler-Lagrange systems (UELSs). The controller ensures stable tracking and avoids control violations, even with system uncertainties.

Keywords:
Adaptive controlCompliant robotControl saturationEuler–Lagrange systemNonlinear controlOutput regulationUnderactuated system

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Area of Science:

  • Robotics and Control Systems
  • Nonlinear Control Theory

Background:

  • Underactuated Euler-Lagrange systems (UELSs) present significant control challenges due to their inherent dynamic properties and limitations.
  • Existing control strategies often struggle with modeling uncertainties and control input saturation, leading to performance degradation or instability.

Purpose of the Study:

  • To develop a saturated smooth adaptive controller for UELSs that addresses modeling uncertainties and control saturation.
  • To ensure semiglobal asymptotic tracking of desired positions without violating control input constraints.
  • To demonstrate the controller's ability to achieve semiglobal asymptotic stability using a singular perturbation approach.

Main Methods:

  • A singular perturbation approach is utilized to design the adaptive controller.
  • Hoppensteadt's Theorem is applied to rigorously prove the system's stability properties.
  • The controller design avoids the need for high-order derivatives of system positions.

Main Results:

  • The proposed saturated controller guarantees semiglobal asymptotic tracking for UELSs.
  • Control input constraints are satisfied throughout the system's operation.
  • The controller's effectiveness is confirmed through simulations on a two-link compliant robot arm.

Conclusions:

  • The developed saturated smooth adaptive controller offers a robust solution for regulating UELSs with uncertainties and saturation.
  • The controller provides a practical approach by not requiring high-order position derivatives.
  • The method ensures system stability and precise tracking within operational limits.