控制理论(社会学)
稳健性(进化)
有界函数
参数统计
非线性系统
非完整系统
数学
自适应控制
计算机科学
控制(管理)
移动机器人
机器人
人工智能
统计
基因
物理
数学分析
量子力学
生物化学
化学
作者
S. Roy,Indra Narayan Kar
标识
DOI:10.1007/s11071-016-2749-6
摘要
In this paper, the tracking control problem of a class of uncertain Euler-Lagrange systems subjected to unknown input delay and bounded disturbances is addressed. To this front, a novel delay dependent control law, referred as Adaptive Robust Outer Loop Control (AROLC) is proposed. Compared to the conventional predictor based approaches, the proposed controller is capable of negotiating any input delay, within a stipulated range, without knowing the delay or its variation. The maximum allowable input delay is computed through Razumikhin-type stability analysis. AROLC also provides robustness against the disturbances due to input delay, parametric variations and unmodelled dynamics through switching control law. The novel adaptive law allows the switching gain to modify itself online in accordance with the tracking error without any prerequisite of the uncertainties. The uncertain system, employing AROLC, is shown to be Uniformly Ultimately Bounded (UUB). As a proof of concept, experimentation is carried out on a nonholonomic wheeled mobile robot with various time varying as well as fixed input delay, and better tracking accuracy of the proposed controller is noted compared to predictor based methodology.
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