A Nonlinear Robust PI Controller Formulation for Position Constrained Control of Euler Lagrange Systems
Bildiriler > Tam Metin Bildiri · 2025
Yazarlar: Çağrı HİNDİSTAN, Mesih V. Kilinc, Enver TATLICIOĞLU, Erkan Zergeroglu
13th IFAC Symposium on Nonlinear Control Systems (NOLCOS), İzlanda, Reykjavik, Uluslararası, Sözlü Sunum, Tam Metin Bildiri, 2025-2025, Wos, cilt 59, ss 120-125
DOI: 10.1016/j.ifacol.2025.11.021
Özet
In this work, a position-constrained smooth robust controller formulation for a class of nonlinear systems, known as Euler Lagrange systems, have been proposed. Specifically, the proposed nonlinear PI type controller ensures that, when the initial position tracking error signal starts below a pre defined threshold, the tracking error signal will stay inside this region and asymptotically converge around the origin despite the presence of uncertainties, ensuring practical tracking of error signal without overshooting. Contrary to most robust controllers in the related literature, the proposed robust controller is differentiable, therefore the output of the controller is "smoother" compared to its counterparts. This smoothness property of the controller reduces the risk of stress on the mechanical system hence, improves the lifetime of the controlled system. The theoretical work is backed up by experimental studies performed on a two link planar robot.