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Adaptive tracking control of Euler-Lagrange systems with bounded controls

dc.contributor.authorLópez Araujo, Daniela Juanita
dc.contributor.authorLoría, Antonio
dc.contributor.authorZavala Río, Arturo
dc.contributor.editorWiley
dc.date.accessioned2018-11-15T18:58:21Z
dc.date.available2018-11-15T18:58:21Z
dc.date.issued2016
dc.identifier.citationLópez-Araujo, D., Loría, A., and Zavala-Río, A. (2017) Adaptive tracking control of Euler-Lagrange systems with bounded controls. Int. J. Adapt. Control Signal Process., 31: 299-313. doi: 10.1002/acs.2697
dc.identifier.urihttp://hdl.handle.net/11627/4713
dc.description.abstract"We solve the simultaneous closed?loop identification and tracking?control problems for fully actuated Euler-Lagrange systems under input constraints. We use a nonlinear adaptive controller reminiscent of computed?torque?type controllers in which linear correction terms are saturated in order to comply with the imposed bounds on the control inputs. Adaptation, reminiscent of gradient methods, is used also with saturation. With respect to related literature, our contribution consists in establishing uniform global asymptotic stability. Therefore, our control scheme ensures robustness with respect to bounded perturbations and uniform convergence of the estimation errors for any initial conditions."
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subjectAdaptive control
dc.subjectPersistency of excitation
dc.subjectBounded inputs
dc.subject.classificationMATEMÁTICAS
dc.titleAdaptive tracking control of Euler-Lagrange systems with bounded controls
dc.typearticle
dc.identifier.doihttps://doi.org/10.1002/acs.2697
dc.rights.accessAcceso Abierto


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Except where otherwise noted, this item's license is described as Attribution-NonCommercial-NoDerivatives 4.0 Internacional