相关论文: Composite Adaptive Disturbance Rejection in Roboti…

In this paper, we propose several set-point control schemes for achieving finite-time regulation in a class of Euler--Lagrange systems with $n$ degrees of freedom and uncertain potential energy. The proposed controllers are based on…

This letter presents a control framework for legged robots that enables self-perception and resistance to external disturbances and model uncertainties. First, a novel disturbance estimator is proposed, integrating adaptive control and…

In this paper, the tracking control problem of a class of uncertain Euler-Lagrange systems subjected to unknown input delay and bounded disturbances is addressed. To this front, a novel delay dependent control law, referred as Adaptive…

This paper proposes a novel direct adaptive control method for rejecting unknown deterministic disturbances and tracking unknown trajectories in systems with uncertain dynamics when the disturbances or trajectories are the summation of…

This paper focuses on optimal mismatched disturbance rejection control for linear continuoustime uncontrollable systems. Different from previous studies, by introducing a new quadratic performance index to transform the mismatched…

Adaptive control can be applied to robotic systems with parameter uncertainties, but improving its performance is usually difficult, especially under discontinuous friction. Inspired by the human motor learning control mechanism, an…

This study focuses on the problem of optimal mismatched disturbance rejection control for uncontrollable linear discrete-time systems. In contrast to previous studies, by introducing a quadratic performance index such that the regulated…

In this paper, we propose a novel framework for disturbance rejection in a class of nonautonomous nonlinear systems affected by trigonometric-polynomial disturbances. The core of our approach is the design of a canonical internal model that…

This paper proposes a composite adaptive control architecture using dual adaptation scheme for dynamical systems comprising time-varying uncertain parameters. While majority of the adaptive control schemes in literature address the case of…

Recently, adaptive control systems with relaxed persistent excitation (PE) conditions have been proposed to guarantee true parameter convergence and improve the transient response. However, in some cases, sufficient control performance and…

A new adaptive observer is proposed for a certain class of nonlinear systems with bounded unknown input and parametric uncertainty. Unlike most existing solutions, the proposed approach ensures asymptotic convergence of the unknown…

Control systems are inevitably affected by external disturbances, and a major objective of the control design is to attenuate or eliminate their adverse effects on the system performance. This paper presents a disturbance rejection approach…

This paper proposes an adaptive modular geometric control framework for robotic manipulators. The proposed methodology decomposes the overall manipulator dynamics into individual modules, enabling the design of local geometric control laws…

In this paper, the tracking control problem of a class of Euler-Lagrange systems subjected to unknown uncertainties is addressed and an adaptive-robust control strategy, christened as Time-Delayed Adaptive Robust Control (TARC) is…

Composite adaptive control (CAC) that integrates direct and indirect adaptive control techniques can achieve smaller tracking errors and faster parameter convergence compared with direct and indirect adaptive control techniques. However,…

In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking…

In this paper a new strategy based on disturbance and uncertainty (DU) estimation and attenuation technique is proposed and tested on the nonlinear kinematic model of the differential drive mobile robot (DDMR). The proposed technique is an…

In this paper, the notion of contraction is used to solve the trajectory-tracking problem for a class of mechanical systems. Additionally, we propose a dynamic extension to remove velocity measurements from the controller while rejecting…

This paper provides an exponential stability result for the adaptive anti-unwinding attitude tracking control problem of a rigid body with uncertain but constant inertia parameters, without requiring the satisfaction of persistent…

Unwanted vibrations stemming from the energy-optimized design of Delta robots pose a challenge in their operation, especially with respect to precise reference tracking. To improve tracking accuracy, this paper proposes an adaptive…