DocumentCode
574328
Title
Saturated RISE feedback control for Euler-Lagrange systems
Author
Fischer, Normann ; Kan, Z. ; Dixon, Warren E.
Author_Institution
Dept. of Mech. & Aerosp. Eng., Univ. of Florida, Gainesville, FL, USA
fYear
2012
fDate
27-29 June 2012
Firstpage
244
Lastpage
249
Abstract
This paper examines saturated control of a class of uncertain, nonlinear Euler-Lagrange systems which includes time-varying and nonlinearly parametrized functions with bounded disturbances using a continuous control law utilizing smooth saturation functions. The bounds on the control are known a priori and can be adjusted by changing the feedback gains. The saturated controller is shown to guarantee semi-global asymptotic tracking despite uncertainties in the dynamics.
Keywords
feedback; nonlinear control systems; time-varying systems; uncertain systems; continuous control law; feedback gains; nonlinearly parametrized function; saturated RISE feedback control; semi-global asymptotic tracking; smooth saturation functions; time-varying function; uncertain nonlinear Euler-Lagrange systems; Manipulators; Robust control; Robustness; Stability analysis; Uncertainty; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference (ACC), 2012
Conference_Location
Montreal, QC
ISSN
0743-1619
Print_ISBN
978-1-4577-1095-7
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2012.6314913
Filename
6314913
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