Adaptive tracking control of Euler-Lagrange nonlinear systems in the presence of uncertainty and input noise with guaranteed tracking errors

Authors

  • Chi Nguyen Van Thai Nguyen University of Technology
  • Phuoc Nguyen Doan Hanoi University of Science and Technology

DOI:

https://doi.org/10.15625/1813-9663/29/2/2509

Keywords:

Nonlinear systems, adaptive control, trajectory tracking control, ISS stability.

Abstract

The Euler-Lagrangenonlinear system with both uncertain parameters and input noises (ENUI) is a common model of many plants in practice as, robot manipulators, mechanical Tora systems, Lavitat mechanical systems, etc. The previous studiesare most oriented to control problems for separate cases: parameters uncertainty or input noises. In papers [1], [2], [3] we introduced a new adaptive tracking control method based on disturbance attenuation and ISS stabilization of ENUI. This both methods compensate the uncertain parameters and eliminate the effect of noise on the inputs of systems. The advantage of this adaptive tracking control is the ability to converge the tracking error to be arbitrary sufficiently small around  the neighbourhood of the origin. In this paper, we continue to present a parameter modifying method of an adaptive tracking controller to get an optional transient time. With this modification, we can adjust independently the dimension of tracking errors attractor and the transient time.

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Author Biographies

Chi Nguyen Van, Thai Nguyen University of Technology

Chi-Nguyen Van is presently a lecturer in the Instruments and Automatic Control Division, Electronic Faculty, Thai Nguyen University Of Technology. He received his B.S. degree in electrical engineering from Thai Nguyen University of Technology in 2000,  M.S. and PhD degree from Ha Noi University Technology in 2005 and 6/2012. His research area are state observer, adaptive control for nonlinear systems, process control and optimal control.

Phuoc Nguyen Doan, Hanoi University of Science and Technology

Associate Professor  Phuoc, Nguyen Doan is presently a lecturer in Automatic Control Department, Electrical Institute, Ha noi University of Technology. He received his B.S. and PhD degree from Dresden University of Technology in 1981 and 1994. His research area are theory of nonlinear dynamics, nonlinear adaptive control and system identification.

Published

2013-03-31

How to Cite

[1]
C. Nguyen Van and P. Nguyen Doan, “Adaptive tracking control of Euler-Lagrange nonlinear systems in the presence of uncertainty and input noise with guaranteed tracking errors”, JCC, vol. 29, no. 2, pp. 127–137, Mar. 2013.

Issue

Section

Cybernetics