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RISE-based adaptive tracking control for Euler-Lagrange mechanical systems with matched disturbances.

Li Liu1, Xiaokui Yue1, Haowei Wen1

  • 1School of Astronautics, Northwestern Polytechnical University, Xi'an, PR China; National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, PR China.

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This study introduces an improved adaptive control method for Euler-Lagrange systems, enhancing stability and design efficiency. The new approach simplifies damping injection for robotic manipulators.

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Adaptive tracking controlDamping injectionDynamic scalingEuler–Lagrange systemsGlobal asymptotic stabilityRISE

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Mechanical Engineering

Background:

  • Traditional adaptive control methods face challenges in formulating desired damping for Euler-Lagrange systems.
  • Parameter estimation errors and tracking errors are key considerations in adaptive control design.

Purpose of the Study:

  • To develop an improved adaptive tracking control method for Euler-Lagrange mechanical systems.
  • To introduce a constructive damping injection procedure simplifying controller design.
  • To achieve global asymptotic stability with enhanced efficiency and reduced order.

Main Methods:

  • Utilizing a generalized dynamic scaling function and scalar filtering.
  • Applying an improved Recursive Integral of the Sign of Error (RISE) method.
  • Analyzing the finite escape time of the closed-loop system.

Main Results:

  • A globally asymptotically stable adaptive tracking control result is achieved.
  • The proposed method offers facilitative damping injection and significant order reduction.
  • Improved design efficiency is demonstrated compared to existing adaptive control techniques.

Conclusions:

  • The developed adaptive control strategy effectively manages Euler-Lagrange systems.
  • Simulations on a 2-DOF planar robot manipulator confirm the method's practical effectiveness.
  • The approach offers a more efficient and stable solution for adaptive robotic control.