Adaptive tracking control of uncertain Euler–Lagrange systems subject to external disturbances

• Published in: Automatica (Oxford) Vol. 104; pp. 207 - 219
• Main Authors: Lu, Maobin, Liu, Lu, Feng, Gang
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.06.2019
• Subjects: Adaptive control; External disturbance; Tracking control; Uncertain Euler–Lagrange system; Uncertain Euler–Lagrange system; Tracking control; External disturbance; Adaptive control

This paper addresses the adaptive trajectory tracking problem of uncertain Euler–Lagrange systems subject to external disturbances. In comparison with existing literature, our work has its distinctive characteristics. First, a large class of persistent external disturbances with unbounded energy can...