NDLI: Adaptive tracking control based on disturbance attenuation and ISS stabilization of Euler-Lagrange nonlinear systems in the presence of uncertainty and input noise

Content Provider	IEEE Xplore Digital Library
Author	Chi Nguyen Van Phuoc Nguyen Doan
Copyright Year	2011
Description	Author affiliation: Department of Automatic Control, Ha Noi University of Technology, Viet Nam (Phuoc Nguyen Doan) \|\| Department of Instruments and Automatic Control, Thai Nguyen University of Technology, Viet Nam (Chi Nguyen Van)
Abstract	Tracking control is an importance problem in applications of mechatronics systems described by Euler-Lagrange (EL). The adaptive tracking controllers introduced in [2],[3],[4] are only used in case of no disturbance, such methods are mainly based on the principle of sliding mode control [8], however they cause chattering phenomenon. In this paper, we introduce a new adaptive tracking control method based on disturbance attenuation and ISS (Input to State Stable) stabilization of EL nonlinear systems in the presence of uncertainty and input noise. The main idea of this method is based on uncertain parameters adaptive compensation and disturbance attenuation ISS technique. The advantage of this method is tracking errors smoothly converge to the arbitrarily sufficient small neighborhood of the origin though the choosing designed controller parameters. The proposed control method removes chattering phenomenon, also remove all the Dawson's approximately estimate conditions [1] and still achieve the desired tracking quality. Results are applied to the problem of stability tracking control for robot manipulator in the presence of torque noise, unknown mass of the end-effector
Starting Page	3698
Ending Page	3701
File Size	295787
Page Count	4
File Format	PDF
ISBN	9781457705359
e-ISBN	9781457705366
DOI	10.1109/AIMSEC.2011.6009950
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-08-08
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Adaptation models Symmetric matrices Uncertainty Euler-Lagrange model Noise Error compensation Adaptive control Disturbance attenuation ISS stabilization Mathematical model Tracking control Nonlinear systems Robots Uncertain parameter compensation
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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