An Adaptive Control Framework for Underactuated Switched Euler-Lagrange Systems

• 成果类型: Article
• 署名作者: Roy, Spandan; Baldi, Simone; Ioannou, Petros A.
• 署名单位: International Institute of Information Technology Hyderabad; Delft University of Technology; Southeast University - China; University of Southern California
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3108507
• 发表日期: 2022
• 页码: 4202-4209
• 关键词: Switches; Vehicle dynamics; uncertainty; gold; control systems; Adaptive control; Cranes; Euler-Lagrange (EL) systems; robust adaptive control; Switched systems; underactuated systems

摘要

The control of underactuated Euler-Lagrange systems with uncertain and switched parameters is an important problem whose solution has many applications. The problem is challenging as standard adaptive control techniques do not extend to this class of systems due to structural constraints that lead to parameterization difficulties. This note proposes an adaptive switched control framework that handles the uncertainty and switched dynamics without imposing structural constraints. A case study inspired by autonomous vessel operations is used to show the effectiveness of the proposed approach.