An Adaptive Control Framework for Underactuated Switched Euler–Lagrange Systems

Journal article (2022)

Authors

S. Roy Ship Design, Production and Operations - Mechanical, Maritime and Materials Engineering , International Institute of Information Technology

S. Baldi Southeast University,

Petros A. Ioannou University of Southern California

DOI: https://doi.org/10.1109/TAC.2021.3108507

Switched systems Underactuated systems Euler–Lagrange (EL) systems Robust adaptive control

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Published Date

2022

Language

English

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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.

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