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Artificial-Delay Adaptive Control for Underactuated Euler-Lagrange Robotics
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DOI：10.1109/TMECH.2021.3052068.png)
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摘要
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Artificial-delay control is a method in which state and input measurements collected at an immediate past time instant (i.e., artificially delayed) are used to compensate the uncertain dynamics affecting the system at the current time. This article formulates an artificial-delay control method with adaptive gains in the presence of nonlinear (Euler-Lagrange) underactuation. The appeal of studying Euler-Lagrange dynamics is to capture many robotics applications of practical interest, as demonstrated via stability and robustness analysis and via robotic ship and robotic aerial vehicle test cases.
Keyword:
Robots
Vehicle dynamics
Delays
Upper bound
Uncertainty
System dynamics
Standards
Artificial-delay control
Euler-Lagrange (EL) systems
time delay estimation (TDE)
underactuated robotics
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7.3
论文数:
5.4K
被引数:
2.4W
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