NDLI: Asymptotic optimal tracking control for an uncertain nonlinear Euler-Lagrange system: A RISE-based closed-loop Stackelberg game approach

Content Provider	IEEE Xplore Digital Library
Author	Hiramatsu, T. Johnson, M. Fitz-Coy, N.G. Dixon, W.E.
Copyright Year	2011
Description	Author affiliation: Dept. of Mechanical and Aerospace Engineering, University of Florida, Gainesville, 32611, USA (Hiramatsu, T.; Johnson, M.; Fitz-Coy, N.G.; Dixon, W.E.)
Abstract	Differential game theory is used to develop controllers for an uncertain nonlinear Euler-Lagrange system. A closed-loop Stackelberg strategy based on hierarchical characteristics of the system is employed. A Robust Integral Sign of the Error (RISE) controller is used to partially cancel uncertain nonlinearities in the system first, and the residual system is modeled as an infinite-horizon two-person Stackelberg differential game. Although the game is linear-quadratic (LQ) not all the nonlinearities are lost since the residual system is linear in errors but not in the original states. To alleviate time inconsistency a closed-loop strategy is sought such that the controller assumes the potential perturbation to the system and computes its strategy accordingly. An analytical solution is presented to allow of a real-time controller implementation. A Lyapunov analysis is provided to examine the stability of the developed controller.
Starting Page	1030
Ending Page	1035
File Size	165427
Page Count	6
File Format	PDF
ISBN	9781612848006
ISSN	07431546
e-ISBN	9781612848013
e-ISBN	9781612847993
DOI	10.1109/CDC.2011.6161202
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-12
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Games Equations Game theory Neodymium State-space methods Stability analysis Vectors
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Modeling and Simulation

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