High-gain PI-like control of Euler–Lagrange mechanical systems: Simulations and experiments in 2DoF robotic manipulators

Autor:	Vicente Parra-Vega, Juan Diego Sanchez-Torres, Anand Sánchez-Orta, Aldo Jonathan Muñoz-Vázquez
Rok vydání:	2021
Předmět:	Mechanical system Nonlinear system High-gain antenna Euler lagrange Control and Systems Engineering Robustness (computer science) Control theory Computer science Mechanical Engineering Robot manipulator Control (linguistics)
Zdroj:	Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering. 236:857-869
ISSN:	2041-3041 0959-6518
DOI:	10.1177/09596518211046692
Popis:	Euler–Lagrange mechanical systems usually possess nonlinear models, which are subject to uncertainties and unknown disturbances. In this article, a robust but smooth controller is proposed, relying on a high-gain proportional–integral structure that renders an accurate tracking, even in the case of uncertain effects. The tracking performance can be improved by adjusting a single parameter, deriving into a prescribed stability regime, where the tracking errors are locally uniformly ultimately bounded, and where the controller depends on a change of coordinates that integrates the proportional, integral, and derivative information of the tracking error. The advantages of this proposal become evident without considering an intricate implementation procedure. Numerical results are provided to highlight the reliability of the proposed method.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::79f88d882438f859a9efaf5eebc63e05 https://doi.org/10.1177/09596518211046692 Zobrazit plný text záznamu