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Artificial Delay Based ARC of a Class of Uncertain EL Systems with Only Position Feedback
- Source :
- IEEE Transactions on Control Systems Technology, 2018
- Publication Year :
- 2017
-
Abstract
- In this paper, the tracking control problem of an Euler-Lagrange system is addressed with regard to parametric uncertainties, and an adaptive-robust control strategy, christened Time-Delayed Adaptive Robust Control (TARC), is presented. TARC approximates the unknown dynamics through the time-delayed estimation, and the adaptive-robust control provides robustness against the approximation error. The novel adaptation law of TARC, in contrast to the conventional adaptive-robust control methodologies, requires neither complete model of the system nor any knowledge of predefined uncertainty bounds to compute the switching gain, and circumvents the over- and underestimation problems of the switching gain. Moreover, TARC only utilizes position feedback and approximates the velocity and acceleration terms from the past position data. The adopted state-derivatives estimation method in TARC avoids any explicit requirement of external low pass filters for the removal of measurement noise. A new stability notion in continuous-time domain is proposed considering the time delay, adaptive law, and state-derivatives estimation which in turn provides a selection criterion for gains and sampling interval of the controller.
- Subjects :
- Computer Science - Systems and Control
Subjects
Details
- Database :
- arXiv
- Journal :
- IEEE Transactions on Control Systems Technology, 2018
- Publication Type :
- Report
- Accession number :
- edsarx.1711.01246
- Document Type :
- Working Paper
- Full Text :
- https://doi.org/10.1109/TCST.2017.2772210