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

doi:10.1016/j.isatra.2021.02.036

CORC > 自动化研究所 > 中国科学院自动化研究所 > 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

	Singular perturbation-based saturated adaptive control for underactuated Euler-Lagrange systems
	Sun, Tairen 1; Zhang, Xuexin 2; Yang, Hongjun 3; Pan, Yongping 4
刊名	ISA TRANSACTIONS
	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.
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关键词	FLEXIBLE-JOINT ROBOTS ; SLIDING MODE CONTROL ; FEEDBACK-CONTROL ; MANIPULATORS ; STABILITY ; PERFORMANCE ; TRACKING
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
语种	英语
出版者	ELSEVIER SCIENCE INC
WOS记录号	WOS:000722275100007
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
内容类型	期刊论文
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.