Adaptive single-stage control for uncertain nonholonomic Euler-Lagrange systems
T. Tao (TU Delft - Team Bart De Schutter)
S. Roy (International Institute of Information Technology)
S. Baldi (Southeast University, TU Delft - Team Bart De Schutter)
More Info
expand_more
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.
Abstract
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.