Adaptive single-stage control for uncertain nonholonomic Euler-Lagrange systems

Adaptive single-stage control for uncertain nonholonomic Euler-Lagrange systems

Tao, T. (TU Delft Team Bart De Schutter)
Roy, S. (International Institute of Information Technology)
Baldi, S. (TU Delft Team Bart De Schutter; Southeast University)

2022

This work introduces a new single-stage adaptive controller for Euler-Lagrange systems with nonholonomic constraints. The proposed mechanism provides a simpler design philosophy compared to double-stage mechanisms (that address kinematics and dynamics in two steps), while achieving analogous stability properties, i.e. stability of both original and internal states. Meanwhile, we do not require direct access to the internal states as required in state-of-the-art single-stage mechanisms. The proposed approach is studied via Lyapunov analysis, validated numerically on wheeled mobile robot dynamics and compared to a standard double-stage approach.

Adaptive systems
Philosophical considerations
Kinematics
Control systems
Stability analysis
Mobile robots
Numerical stability

http://resolver.tudelft.nl/uuid:91b66351-bb45-46de-ab97-63199b8b5b71

https://doi.org/10.1109/CDC51059.2022.9993015

IEEE

2023-07-10

978-1-6654-6761-2

Proceedings of the IEEE 61st Conference on Decision and Control (CDC 2022)

IEEE 61st Conference on Decision and Control (CDC 2022), 2022-12-06 → 2022-12-09, Cancún, Mexico

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Institutional Repository

conference paper

© 2022 T. Tao, S. Roy, S. Baldi