Print Email Facebook Twitter An Adaptive Control Framework for Underactuated Switched Euler–Lagrange Systems Title An Adaptive Control Framework for Underactuated Switched Euler–Lagrange Systems Author Roy, S. (TU Delft Ship Design, Production and Operations; International Institute of Information Technology) Baldi, S. (TU Delft Team Bart De Schutter; Southeast University) Ioannou, Petros A. (University of Southern California) Date 2022 Abstract The control of underactuated Euler–Lagrange systems with uncertain and switched parameters is an important problem whose solution has many applications. The problem is challenging as standard adaptive control techniques do not extend to this class of systems due to structural constraints that lead to parameterization difficulties. This note proposes an adaptive switched control framework that handles the uncertainty and switched dynamics without imposing structural constraints. A case study inspired by autonomous vessel operations is used to show the effectiveness of the proposed approach. Subject Euler–Lagrange (EL) systemsrobust adaptive controlswitched systemsunderactuated systems To reference this document use: http://resolver.tudelft.nl/uuid:fec908d7-7d5a-4c39-af90-7ac5e0375b4d DOI https://doi.org/10.1109/TAC.2021.3108507 Embargo date 2023-07-01 ISSN 0018-9286 Source IEEE Transactions on Automatic Control, 67 (8), 4202-4209 Bibliographical note 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. Part of collection Institutional Repository Document type journal article Rights © 2022 S. Roy, S. Baldi, Petros A. Ioannou Files PDF An_Adaptive_Control_Frame ... ystems.pdf 1.54 MB Close viewer /islandora/object/uuid:fec908d7-7d5a-4c39-af90-7ac5e0375b4d/datastream/OBJ/view