Artificial-Delay Adaptive Control for Underactuated Euler–Lagrange Robotics
S. Roy, Simone Baldi, Peng Li, Viswa Narayanan Sankaranarayanan
Abstract
Artificial-delay control is a method in which state and input measurements collected at an immediate past time instant (i.e., artificially delayed) are used to compensate the uncertain dynamics affecting the system at the current time. This article formulates an artificial-delay control method with adaptive gains in the presence of nonlinear (Euler–Lagrange) underactuation. The appeal of studying Euler–Lagrange dynamics is to capture many robotics applications of practical interest, as demonstrated via stability and robustness analysis and via robotic ship and robotic aerial vehicle test cases.
Topics & Concepts
RoboticsUnderactuationControl theory (sociology)Robustness (evolution)Computer scienceArtificial intelligenceNonlinear systemAdaptive controlControl engineeringRobotControl (management)EngineeringBiochemistryPhysicsQuantum mechanicsGeneChemistryAdaptive Control of Nonlinear SystemsStability and Control of Uncertain SystemsDistributed Control Multi-Agent Systems