ADAPTIVE TRAJECTORY TRACKING CONTROL FOR EULER-LAGRANGE SYSTEMS WITH APPLICATION TO ROBOT MANIPULATORS

Z. Wang,∗ P. Goldsmith,∗∗ and J. Gu∗

Keywords

Euler-Lagrange systems, adaptive control, tracking control, passiv- ity

Abstract

To control Euler-Lagrange (EL) systems, we propose an adaptive control which is itself EL. Through a novel interconnection of these two passive systems, the closed-loop kinetic energy is modified by the potential energy of the EL controller, while a switched update law is used to update the dynamic model. It is proved that the control guarantees convergence to zero tracking error, while simulations show that it achieves faster convergence and better transient performance than an established adaptive control.

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