Adaptive Control of Euler-Lagrange Systems under Time-varying State Constraints without a Priori Bounded Uncertainty
Systems and Control
2024-09-30 v1 Robotics
Systems and Control
Abstract
In this article, a novel adaptive controller is designed for Euler-Lagrangian systems under predefined time-varying state constraints. The proposed controller could achieve this objective without a priori knowledge of system parameters and, crucially, of state-dependent uncertainties. The closed-loop stability is verified using the Lyapunov method, while the overall efficacy of the proposed scheme is verified using a simulated robotic arm compared to the state of the art.
Keywords
Cite
@article{arxiv.2311.00067,
title = {Adaptive Control of Euler-Lagrange Systems under Time-varying State Constraints without a Priori Bounded Uncertainty},
author = {Viswa Narayanan Sankaranarayanan and Sumeet Gajanan Satpute and Spandan Roy and George Nikolakopoulos},
journal= {arXiv preprint arXiv:2311.00067},
year = {2024}
}