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

Conference paper (2022)

Authors

T. Tao Team Bart De Schutter - Mechanical, Maritime and Materials Engineering
S. Roy International Institute of Information Technology
S. Baldi Team Bart De Schutter - Mechanical, Maritime and Materials Engineering , Southeast University
Research Group
Team Bart De Schutter (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2022 T. Tao, S. Roy, S. Baldi
DOI
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https://doi.org/10.1109/CDC51059.2022.9993015
Numerical stability Stability analysis Control systems Kinematics Mobile robots Adaptive systems Philosophical considerations
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Published Date

2022

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Bart De Schutter

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.