A saturation based self-tuned robust control design for Euler Lagrange systems.

Autor: Inci H; Electrical & Electronics Engineering, Adiyaman University, Adiyaman, Turkey. Electronic address: hinci@adiyaman.edu.tr., Selim E; Electrical & Electronics Engineering, Ege University, Izmir, Turkey. Electronic address: erman.selim@ege.edu.tr., Tatlicioglu E; Electrical & Electronics Engineering, Ege University, Izmir, Turkey. Electronic address: enver.tatlicioglu@ege.edu.tr., Zergeroglu E; Computer Engineering, Gebze Technical University, Kocaeli, Turkey. Electronic address: e.zerger@gtu.edu.tr., Savran A; Electrical & Electronics Engineering, Ege University, Izmir, Turkey. Electronic address: aydogan.savran@ege.edu.tr.
Jazyk: angličtina
Zdroj: ISA transactions [ISA Trans] 2024 Oct 28. Date of Electronic Publication: 2024 Oct 28.
DOI: 10.1016/j.isatra.2024.10.020
Abstrakt: Control of the family of systems that can be represented in the Euler Lagrange (EL) form is both challenging from a theoretical perspective and applicable to a broad spectrum of real systems. For this type of control problem, given that any parameter estimation error and disturbances are not directly addressed, the system performance deteriorates, and stability cannot be deduced in advance. Considering these issues, this work presents the design and the corresponding analysis of a saturation function based, model-free, continuous robust controller for mechanical systems represented in the EL form. In order to avoid chattering in controller input, which is a common problem in most robust and high-gain control designs, the proposed method makes use of continuously differentiable terms. The stability of the closed-loop system is ensured via rigorous Lyapunov-based arguments. To ease the tuning of the controller gain, an adaptive gain-tuning algorithm is proposed to be applied as an add-on. The effectiveness of the controller is demonstrated by a simulation study on a twin rotor multi-input-multi-output system (TRMS) model Furthermore, the feasibility of the proposed method is then tested on an in-house built, inherently unstable, and therefore extremely sensitive mobile robotic platform. In the experimental study, satisfactory performances are attained for both the controller and the gain-tuning algorithm where less than 0.5° error is obtained in roll and pitch angles and less than 1° error is achieved in the yaw direction.
Competing Interests: Declaration of competing interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.
(Copyright © 2024 International Society of Automation. Published by Elsevier Ltd. All rights reserved.)
Databáze: MEDLINE
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