Robust Adaptive Control of Uncertain Fully Actuated Systems With Unknown Parameters and Perturbed Input Matrices

Area of Science:

• Control Engineering
• Robotics
• Systems Theory

Background:

• Fully actuated systems (FASs) often face challenges with unknown parameters, input matrix perturbations, and nonlinear uncertainties.
• Existing adaptive control methods for FASs may have limitations in handling these complex scenarios simultaneously.

Purpose of the Study:

• To develop novel robust adaptive control strategies for fully actuated systems (FASs) with unknown parameters and perturbed input matrices.
• To address both time-varying and constant unknown parameter cases, relaxing existing system assumptions.

Main Methods:

• Development of two novel robust adaptive controllers for FASs.
• Analysis of controllers for systems with time-varying and constant unknown parameters, including input matrix perturbations.
• Extension of methods to generalized multiorder FAS.

Main Results:

• For time-varying parameters, global boundedness of state variables and estimation error is guaranteed under relaxed assumptions.
• For constant parameters, state variables globally asymptotically converge to the origin without requiring pre-estimation.
• Demonstrated effectiveness in controlling electromechanical systems.

Conclusions:

• The proposed robust adaptive controllers effectively manage uncertainties in FASs.
• The methods offer improved performance and broader applicability compared to existing techniques.
• Successful application in electromechanical systems validates the control strategies.