Output regulation of Euler-Lagrange systems based on error and velocity feedback

Haiwen Wu, Dabo Xu*, Bayu Jayawardhana

*Corresponding author for this work

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Abstract

Based on a certainty equivalence property, we propose an adaptive internal model control law that solves global robust output regulation of uncertain Euler-Lagrange (EL) systems based only on error (or relative position) and velocity feedback. The proposed controller does not require apriori knowledge of reference signal and its derivatives, which are commonly assumed in literature. It enables a self-learning mechanism of the closed-loop EL systems where the adaptive internal model-based controller is able to learn the desired trajectories and adapt itself to the uncertain plant parameters. Furthermore, the analysis offers insights to the design of internal model-based output regulation for multivariable nonlinear systems with uniform vector relative degree two.
Original languageEnglish
Title of host publicationProceedings of the 39th Chinese Control ConferenceJuly 27-29, 2020, Shenyang, China
PublisherIEEE
Pages604-609
Number of pages6
DOIs
Publication statusPublished - Sep-2020
Event

CCC2020
39th Chinese Control Conference
- Shenyang, China
Duration: 27-Jul-202030-Jul-2020

Conference

Conference

CCC2020
39th Chinese Control Conference
CountryChina
CityShenyang
Period27/07/202030/07/2020

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