典型文献
Trajectory Tracking Control of Euler-Lagrange Systems with ISS-Like Robustness to Actuator Noises
文献摘要：
This paper studies global robust tracking of uncertain Euler-Lagrange systems with input disturbances.The authors develop a robust regulation-based approach for the problem.Specifically,by introducing a novel nonlinear internal model,the authors solve global asymptotic trajectory tracking with disturbance rejection of multiple step/sinusoidal signals with unknown amplitudes,frequencies,and phases.Moreover,the authors show that a robustness property to actuator noises can be guaranteed in a sense of strong integral input-to-state stability(iISS).That is,the closed-loop system is not only iISS but also input-to-state stable(ISS)to small magnitude actuator noises.Furthermore,the authors explore a by-product overparametrized linear regression estimation,coming up with robust estimation of the unknown parameters.Finally,the authors present several numerical examples to illustrate the theoretical results.
文献关键词：
中图分类号：
作者姓名：
WU Haiwen;XU Dabo
作者机构：
School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China; Engineering and Technology Institute Groningen,Faculty of Science and Engineering,University of Groningen,Groningen 9747 AG,The Netherlands;Shien-Ming Wu School of Intelligent Engineering,South China University of Technology,Guangzhou 511442,China
文献出处：
引用格式：
[1]WU Haiwen;XU Dabo-.Trajectory Tracking Control of Euler-Lagrange Systems with ISS-Like Robustness to Actuator Noises)[J].系统科学与复杂性学报（英文版）,2022(05):1719-1747
A类：
iISS,overparametrized
B类：
Trajectory,Tracking,Control,Euler,Lagrange,Systems,Like,Robustness,Actuator,Noises,This,paper,studies,global,tracking,uncertain,systems,input,disturbances,authors,develop,regulation,approach,problem,Specifically,by,introducing,novel,nonlinear,internal,model,solve,asymptotic,trajectory,rejection,multiple,step,sinusoidal,signals,unknown,amplitudes,frequencies,phases,Moreover,show,that,robustness,property,actuator,noises,can,be,guaranteed,sense,strong,integral,state,stability,That,closed,loop,not,only,but,also,stable,small,magnitude,Furthermore,explore,product,regression,estimation,coming,up,parameters,Finally,present,several,numerical,examples,illustrate,theoretical,results
AB值：
0.650295
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