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Adaptive robust control for Pendubot with matched–mismatched uncertainty via constraint-following

Published online by Cambridge University Press:  17 January 2023

Cui Wei Open the ORCID record for Cui Wei [Opens in a new window] ,
Ye-Hwa Chen ,
Tianyou Chai  and
Jun Fu
Cui Wei*
Affiliation:
Institute of Intelligent Manufacturing, Nanjing Tech University, Nanjing 210009, China
Ye-Hwa Chen
Affiliation:
George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA
Tianyou Chai
Affiliation:
State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110819, China
Jun Fu
Affiliation:
State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110819, China
*
*Corresponding author. E-mail: cwei@njtech.edu.cn
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Abstract

The study presents an adaptive robust control method for the Pendubot subjects to matched and mismatched uncertainty. First, the control task is formatted as a reduced-dimension equality constraint of the system states. To handle the matched and mismatched uncertainties, an orthogonal decomposition method is employed to make the mismatched part disappear after decomposition. Based on the above, an adaptive robust control law based on constraint-following is devised. By the Lyapunov approach, it is rigorously proven that the proposed approach ensures the uniform boundedness and uniform ultimate boundedness of the closed-loop control system and thus renders approximate constraint-following, regardless of uncertainty. Simulation and experimental results are provided and discussed, demonstrating the good performance of the proposed approach.

Keywords

constraint-followingunderactuatedPendubotmatched–mismatched uncertaintyadaptive robust control
Type
Research Article
Information
Robotica , Volume 41 , Issue 5 , May 2023 , pp. 1550 - 1567
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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