Inverse optimal adaptive output feedback control of a class of Euler–Lagrange systems: A nonlinear filter based approach
Makaleler > Tam Makale · 2021
Yazarlar: Orhan Aksoy, Erkan ZERGEROĞLU, Enver TATLICIOĞLU
Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, SCI Expanded İndekslerine Giren Dergi, Uluslararası, Wos, 2021, cilt 236, ss 783-791
DOI: 10.1177/09596518211054925
Özet
In this paper, we present an inverse optimal tracking controller for a class of Euler–-Lagrange systems having uncertainties in their dynamical terms under the restriction that only the output state ( i.e. position for robotic systems) is available for measurement. Specifically, a nonlinear filter is used to generate a velocity substitute, then a controller formulation ensuring a globally asymptotically stable closed-loop system while minimizing a performance index despite the presence of parametric uncertainty, is proposed. The stability proof is established using a Lyapunov analysis of the system with proposed optimal output feedback controller. Inverse optimality is derived via designing a meaningful cost function utilizing the control Lyapunov function. Numerical simulations are presented to illustrate the viability and performance of the derived controller.