Asymptotic Stability of Uncertain Lagrangian Systems with Prescribed Transient Response [Elektronisk resurs]

• This paper considers the asymptotic trackingproblem for 2nd-order nonlinear Lagrangian systems subjectto predefined constraints for the system response, such asmaximum overshoot or minimum convergence rate. In particular,by employing discontinuous adaptive control protocolsand nonsmooth analysis, we extend previous results on funnelcontrol to guarantee at the same time asymptotic trajectorytracking from all the initial conditions that are compliant withthe given funnel. The considered system contains parametricand structural uncertainties, with no boundedness or approximation/parametric factorization assumptions. The response ofthe closed loop system is solely determined by the predefinedfunnel and is independent from the control gain selection.Finally, simulation results verify the theoretical findings. 

Ämnesord

Engineering and Technology  (hsv)

Electrical Engineering, Electronic Engineering, Information Engineering  (hsv)

Control Engineering  (hsv)

Teknik och teknologier  (hsv)

Elektroteknik och elektronik  (hsv)

Reglerteknik  (hsv)

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government publication  (marcgt)