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priori bounded uncertainty

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Adaptive Control of Euler-Lagrange Systems under Time-varying State Constraints without a Priori Bounded Uncertainty

Sankaranarayanan, Viswa Narayanan, Satpute, Sumeet Gajanan, Roy, Spandan, Nikolakopoulos, George

arXiv.org Artificial IntelligenceOct-31-2023

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.

artificial intelligence, priori bounded uncertainty, time-varying state constraint, (2 more...)

arXiv.org Artificial Intelligence

2311.00067

Genre: Research Report (0.40)

Technology:

Information Technology > Artificial Intelligence > Robots (0.53)
Information Technology > Control Systems > Adaptive Systems (0.40)

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