Leader–Follower Synchronization of Uncertain Euler–Lagrange Dynamics with Input Constraints

Autor:	Muhammad Ridho Rosa
Jazyk:	angličtina
Rok vydání:	2020
Předmět:	adaptive control saturation Euler–Lagrange systems heterogeneous uncertain systems inverse dynamics control Motor vehicles. Aeronautics. Astronautics TL1-4050
Zdroj:	Aerospace, Vol 7, Iss 9, p 127 (2020)
Druh dokumentu:	article
ISSN:	2226-4310 39891240
DOI:	10.3390/aerospace7090127
Popis:	This paper addresses the problem of leader–follower synchronization of uncertain Euler–Lagrange systems under input constraints. The problem is solved in a distributed model reference adaptive control framework that includes positive μ-modification to address input constraints. The proposed design has the distinguishing features of updating the gains to synchronize the uncertain systems and of providing stable adaptation in the presence of input saturation. By using a matching condition assumption, a distributed inverse dynamics architecture is adopted to guarantee convergence to common dynamics. The design is studied analytically, and its performance is validated in simulation using spacecraft dynamics.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/d73b1f3989124062a93c51ec1f61413c Zobrazit plný text záznamu View record in DOAJ