Adaptive State-Feedback Shared Control for Constrained Uncertain Mechanical Systems
Liang Sun, Jingjing Jiang
Abstract
This work develops two kinds of adaptive state feedback shared-control algorithms for a class of nonlinear mechanical systems in the presence of output constraints described by a set of linear inequalities. The parametric uncertainties and unknown external disturbances in the dynamical model are compensated by the proposed adaptive control laws for the feedback controller. In particular, an adaptive fixed-time state-feedback control law is also developed after the classical robust adaptive state-feedback control law design. The properties of the closed-loop shared-control systems are studied by using Lyapunov method. Simulation results demonstrate the effectiveness of the proposed approach.
Topics & Concepts
Control theory (sociology)Adaptive controlParametric statisticsNonlinear systemState (computer science)Controller (irrigation)Lyapunov functionFull state feedbackComputer scienceControl (management)Robust controlNonlinear controlControl engineeringMathematicsEngineeringArtificial intelligenceAlgorithmQuantum mechanicsPhysicsStatisticsAgronomyBiologyAdaptive Control of Nonlinear SystemsControl and Dynamics of Mobile RobotsAdvanced Control Systems Optimization