Artificial-Delay Adaptive Control for Under-actuated Euler-Lagrange Robotics

Journal article (2021)

Authors

Spandan Roy International Institute of Information Technology
S. Baldi Southeast University, Team Bart De Schutter - Mechanical, Maritime and Materials Engineering
Peng Li Southeast University
Viswa Narayanan International Institute of Information Technology
Research Group
Team Bart De Schutter (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2021 Spandan Roy, S. Baldi, Peng Li, Viswa Narayanan
DOI: https://doi.org/10.1109/TMECH.2021.3052068
Robots Uncertainty Time delay estimation Vehicle dynamics Standards Delays System dynamics Upper bound Artificial-delay control Euler-Lagrange systems Under-actuated robotics
More Info
expand_more

Published Date

2021

Language

English

Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Bart De Schutter

Abstract

Artificial-delay control is a method in which state and input measurements collected at an immediate past time instant (i.e. artificially delayed) are used to compensate the uncertain dynamics affecting the system at the current time. This work formulates an artificial-delay control method with adaptive gains in the presence of nonlinear (Euler-Lagrange) under-actuation. The appeal of studying Euler-Lagrange dynamics is to capture many robotics applications of practical interest, as demonstrated via stability and robustness analysis and via robotic ship and robotic aerial vehicle test cases.