Artificial-Delay Adaptive Control for Under-actuated Euler-Lagrange Robotics

Journal article (2021)

Authors

Spandan Roy International Institute of Information Technology
S. Baldi Team Bart De Schutter - Mechanical, Maritime and Materials Engineering , Southeast University
Peng Li Southeast University
Viswa Narayanan International Institute of Information Technology
Research Group
Team Bart De Schutter (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2021 Spandan Roy, S. Baldi, Peng Li, Viswa Narayanan
DOI: https://doi.org/10.1109/TMECH.2021.3052068
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Published Date

2021

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Bart De Schutter

Abstract

Artificial-delay control is a method in which state and input measurements collected at an immediate past time instant (i.e. artificially delayed) are used to compensate the uncertain dynamics affecting the system at the current time. This work formulates an artificial-delay control method with adaptive gains in the presence of nonlinear (Euler-Lagrange) under-actuation. The appeal of studying Euler-Lagrange dynamics is to capture many robotics applications of practical interest, as demonstrated via stability and robustness analysis and via robotic ship and robotic aerial vehicle test cases.

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