On Self-Learning Mechanism for the Output Regulation of Second-Order Affine Nonlinear Systems

• Published in: IEEE transactions on automatic control Vol. 67; no. 11; pp. 5964 - 5979
• Main Authors: Wu, Haiwen, Xu, Dabo, Jayawardhana, Bayu
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.11.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptation models; Adaptive control; certainty equivalence principle; Controllers; Feedforward systems; internal model principle; Kernel; Kernels; Learning; Nonlinear systems; output regulation; Parameter uncertainty; Position measurement; Reference signals; Regulation; servo systems; Task analysis; Trajectory; Trajectory control

This article studies global robust output regulation of second-order nonlinear systems with input disturbances that encompass the fully-actuated Euler-Lagrange systems. We assume the availability of relative output (w.r.t. a family of reference signals) and output derivative measurements. Based on a...