Adaptive robust control for Pendubot with matched–mismatched uncertainty via constraint-following

• Published in: Robotica Vol. 41; no. 5; pp. 1550 - 1567
• Main Authors: Wei, Cui, Chen, Ye-Hwa, Chai, Tianyou, Fu, Jun
• Format: Journal Article
• Language: English
• Published: Cambridge, UK Cambridge University Press 01.05.2023
• Subjects: Adaptive control; Closed loops; Constraints; Control methods; Control tasks; Control theory; Decomposition; Emerging Topics of Advanced Robotics and Mechatronics; Energy consumption; Feedback control; Friction; Neural networks; Robust control; Uncertainty; matched–mismatched uncertainty; adaptive robust control; Pendubot; underactuated; constraint-following

The study presents an adaptive robust control method for the Pendubot subjects to matched and mismatched uncertainty. First, the control task is formatted as a reduced-dimension equality constraint of the system states. To handle the matched and mismatched uncertainties, an orthogonal decomposition...