時変状態制約下のEuler-Lagrange系に対する事前有界不確かさを要しない適応制御
Adaptive Control of Euler-Lagrange Systems under Time-varying State Constraints without a Priori Bounded Uncertainty
システムパラメータや状態依存の不確かさの事前知識なしに、時変状態制約を満たす新しい適応制御器を提案し、Lyapunov法で安定性を証明、ロボットアームのシミュレーションで有効性を示した。
著者: Viswa Narayanan Sankaranarayanan, Sumeet Gajanan Satpute, Spandan Roy, George Nikolakopoulos
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
In this article, a novel adaptive controller is designed for Euler-Lagrangian systems under predefined time-varying state constraints. The proposed controller could achieve this objective without a priori knowledge of system parameters and, crucially, of state-dependent uncertainties. The closed-loop stability is verified using the Lyapunov method, while the overall efficacy of the proposed scheme is verified using a simulated robotic arm compared to the state of the art.
