Related papers: Tracking Control of Euler-Lagrangian Systems with …
This article proposes a periodic event-triggered adaptive barrier control policy for the trajectory tracking problem of perturbed Euler-Lagrangian systems with state, input, and temporal (SIT) constraints. In particular, an…
This paper presents an adaptive control framework for Euler-Lagrange (E-L) systems that enforces user-defined time-varying state and input constraints in the presence of parametric uncertainties and bounded disturbances. The proposed design…
This paper proposes a novel control architecture for state and input constrained Euler-Lagrange (E-L) systems with parametric uncertainties. A simple saturated controller is strategically coupled with a Barrier Lyapunov Function (BLF) based…
This paper proposes an adaptive tracking controller for uncertain Euler-Lagrange (E-L) systems with user-defined state and input constraints in presence of bounded external disturbances. A barrier Lyapunov function (BLF) is employed for…
In this paper, we present a prescribed performance control framework for trajectory tracking in Euler-Lagrange systems with unknown dynamics and prescribed input constraints. The proposed approach enforces hard funnel constraints, meaning…
This paper presents a new safe control framework for Euler-Lagrange (EL) systems with limited model information, external disturbances, and measurement uncertainties. The EL system is decomposed into two subsystems called the proxy…
This paper introduces a class of time-varying controllers for Euler-Lagrange systems such that the convergence occurs at an arbitrary finite time, independently of initial conditions, and free of chattering. The proposed controller is based…
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,…
Approximate methods to solve stochastic optimal control (SOC) problems have received significant interest from researchers in the past decade. Probabilistic inference approaches to SOC have been developed to solve nonlinear quadratic…
The energy shaping method, Controlled Lagrangian, is a well-known approach to stabilize the under-actuated Euler Lagrange (EL) systems. In this approach, to construct a control rule, some nonlinear, nonhomogeneous partial differential…
We propose a novel symbolic control framework for enforcing temporal logic specifications in Euler-Lagrange systems that addresses the key limitations of traditional abstraction-based approaches. Unlike existing methods that require exact…
This work presents a solution to the adaptive tracking control of Euler Lagrange systems with guaranteed tracking and parameter estimation error convergence. Specifically a concurrent learning based update rule fused by the filtered version…
In this paper, we propose a new method for ensuring formally that a controlled trajectory stay inside a given safety set S for a given duration T. Using a finite gridding X of S, we first synthesize, for a subset of initial nodes x of X ,…
In this paper, the tracking control problem of an Euler-Lagrange system is addressed with regard to parametric uncertainties, and an adaptive-robust control strategy, christened Time-Delayed Adaptive Robust Control (TARC), is presented.…
Perfect tracking control for real-world Euler-Lagrange systems is challenging due to uncertainties in the system model and external disturbances. The magnitude of the tracking error can be reduced either by increasing the feedback gains or…
Control synthesis from temporal logic specifications has gained popularity in recent years. In this paper, we use a model predictive approach to control discrete time linear systems with additive bounded disturbances subject to constraints…
In this work, we propose an event-triggered con- trol framework for dynamical systems with temporal logical constraints. Event-triggered control methodologies have proven to be very efficient in reducing sensing, communication and…
This paper introduces a novel approach to the optimal control of linear discrete-time systems subject to bounded disturbances. Our approach is based on the newly established duality between ellipsoidal approximations of reachable and hardly…
Designing accurate yet robust tracking controllers with tight performance guarantees for Lagrangian systems is challenging due to nonlinear modeling uncertainties and conservative stability criteria. This article proposes a…
This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability while ensuring forward invariance of a prescribed safe set…