Multivalued Robust Tracking Control of Lagrange Systems: Continuous and Discrete-Time Algorithms

被引：34

作者：

Miranda-Villatoro, Felix A. ^{[1
]}

Brogliato, Bernard ^{[2
]}

Castanos, Fernando ^{[1
]}

机构：

[1] Cinvestav IPN, Automat Control Dept, Mexico City 07360, DF, Mexico

[2] Univ Grenoble Alpes, INRIA Grenoble Rhone Alpes, F-38334 Saint Ismier, France

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2017年 / 62卷 / 09期

关键词：

Convex analysis; differential inclusion; discrete-time; Euler-Lagrange systems; finite-time convergence; Lyapunov stability; passivity-based controller; robust control; sliding-mode control; trajectory tracking; SLIDING-MODE CONTROL; ADAPTIVE MANIPULATOR CONTROL; ROBOT MANIPULATORS; IMPLICIT; DISCRETIZATION; STABILITY; TUTORIAL; INPUT;

D O I：

10.1109/TAC.2017.2662804

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The robust trajectory tracking of fully actuated Lagrange systems is studied. Exogenous perturbations as well as parameter uncertainties are taken into account. A family of set-valued passivity-based controllers is proposed, including first-order sliding-mode schemes. The existence of solutions and the stability of the closed-loop system are established in continuous time. An implicit discretization approach is proposed and the well posedness and the stability of the closed-loop system are studied. Numerical simulations illustrate the effectiveness of the proposed discrete-time controller.

引用

页码：4436 / 4450

页数：15

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