Output feedback control of uncertain Euler-Lagrange systems by internal model
Output feedback control of uncertain Euler-Lagrange systems by internal model
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DOI：
10.1016/j.automatica.2023.111189
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发表时间：
2023-10
期刊：
影响因子：
--
通讯作者：
Xingxiu He;Maobin Lu
中科院分区：
文献类型：
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作者：
Xingxiu He;Maobin Lu
本文研究了一类具有扰动的不确定欧拉-拉格朗日系统的轨迹跟踪控制问题。针对现有方法中参考轨迹的位置、速度和加速度都是可测的，提出了一类依赖于位置和速度跟踪误差的动态输出反馈控制律。具体地说，通过用外系统表征参考轨迹和扰动，我们设计了一个内部模型来学习期望的前馈输入，使得在未知系统参数和扰动的情况下仍然可以跟踪参考轨迹。将该方法应用于三连杆圆柱形机械臂的轨迹跟踪控制，验证了该方法的有效性。
In this paper, we investigate the trajectory tracking control problem of a class of uncertain Euler–Lagrange systems subject to disturbances. In sharp contrast to existing approaches where the position, the velocity, and the acceleration of the reference trajectory are assumed to be measurable, we propose a class of dynamic output feedback control laws which depends on the tracking error of the position and that of the velocity. Specifically, by characterizing the reference trajectory and the disturbances with an exosystem, we design an internal model to learn the desired feedforward input such that the reference trajectory can be tracked in spite of unknown system parameters and disturbances. The effectiveness of the proposed approach is illustrated by its application to trajectory tracking control of a three-link cylindrical robot arm.