論文

査読有り
2013年

Anti-windup Adaptive Tracking Control for Euler-Lagrange Systems with Actuator Saturation

2013 3RD INTERNATIONAL CONFERENCE ON INSTRUMENTATION CONTROL AND AUTOMATION (ICA 2013)
  • Mitsuru Kanamori

開始ページ
216
終了ページ
221
記述言語
英語
掲載種別
研究論文(国際会議プロシーディングス)
DOI
10.1109/ICA.2013.6734075
出版者・発行元
IEEE

The present paper proposes an anti-windup adaptive law for Euler-Lagrange systems with actuator saturation. For an arbitrary target orbit, all constant parameters of the robot system are estimated by the proposed anti-windup adaptive law. In order to ensure tracking performance with actuator saturation, the input saturation state is classified into four saturation cases, and an adaptive law is given for each case. Switching of the adaptive law according to saturation case is proposed. Two Lyapunov functions, such as hybrid control, are derived and global asymptotic stability is ensured by energy dissipation between the two Lyapunov functions. The control performance is verified through numerical simulations using a two-link robot arm.

リンク情報
DOI
https://doi.org/10.1109/ICA.2013.6734075
Web of Science
https://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=JSTA_CEL&SrcApp=J_Gate_JST&DestLinkType=FullRecord&KeyUT=WOS:000350735000037&DestApp=WOS_CPL
ID情報
  • DOI : 10.1109/ICA.2013.6734075
  • ISSN : 2379-755X
  • Web of Science ID : WOS:000350735000037

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