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

共 50 条

[21] Robust H∞ control of discrete-time descriptor systems
Coutinho, D.
de Souza, C. E.
Barbosa, K. A.
2014 EUROPEAN CONTROL CONFERENCE (ECC), 2014, : 1915 - 1920
[22] Robust stabilizing control for discrete-time uncertain systems
Yang, Baomin
Sun, Xiang
1995, (21):
[23] Robust adaptive control of uncertain discrete-time systems
Zhang, Y
Wen, CY
Soh, YC
AUTOMATICA, 1999, 35 (02) : 321 - 329
[24] Discrete-Time Delay Control for Euler-Lagrange Mechanical Systems
Sleiman, Hassan
Melin, Christian
Vidolov, Boris
PROCEEDINGS OF WORLD ACADEMY OF SCIENCE, ENGINEERING AND TECHNOLOGY, VOL 6, 2005, : 78 - 81
[25] MULTIVALUED CONTROLLED PROCESSES WITH DISCRETE-TIME AND CONTROL PROBLEMS
BAKAN, GM
AVTOMATIKA, 1979, (02): : 22 - 29
[26] Observer-based robust tracking control with preview action for uncertain discrete-time systems
Oya, Hidetoshi
Hagino, Kojiro
Matsuoka, Masaki
IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES, 2007, E90A (02) : 517 - 522
[27] Robust discrete-time sliding mode control for tracking and model following of uncertain nonlinear systems
Rahmani, Behrooz
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 2018, 49 (11) : 2427 - 2441
[28] Robust stability analysis of discrete-time systems using genetic algorithms
Fadali, MS
Zhang, YM
Louis, SJ
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS, 1999, 29 (05): : 503 - 508
[29] Robust tracking and model-following for uncertain discrete-time systems
Rahmani, Behrooz
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2018, 40 (10) : 3211 - 3221
[30] Discrete-time variable structure control for robust tracking and model following
Pai, Ming-Chang
JOURNAL OF THE CHINESE INSTITUTE OF ENGINEERS, 2008, 31 (01) : 167 - 172

← 1 2 3 4 5 →