RISE-based adaptive tracking control for Euler-Lagrange mechanical systems with matched disturbances

Li Liu; Xiaokui Yue; Haowei Wen; Honghua Dai

doi:10.1016/j.isatra.2022.09.045

RISE-based adaptive tracking control for Euler-Lagrange mechanical systems with matched disturbances

ISA Trans. 2023 Apr:135:94-104. doi: 10.1016/j.isatra.2022.09.045. Epub 2022 Oct 10.

Authors

Li Liu¹, Xiaokui Yue², Haowei Wen³, Honghua Dai⁴

Affiliations

¹ School of Astronautics, Northwestern Polytechnical University, Xi'an, PR China; National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, PR China. Electronic address: liu_li@mail.nwpu.edu.cn.
² School of Astronautics, Northwestern Polytechnical University, Xi'an, PR China; National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, PR China. Electronic address: xkyue@nwpu.edu.cn.
³ School of Astronautics, Northwestern Polytechnical University, Xi'an, PR China; National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, PR China. Electronic address: hw_wen@mail.nwpu.edu.cn.
⁴ School of Astronautics, Northwestern Polytechnical University, Xi'an, PR China; National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, PR China. Electronic address: hhdai@nwpu.edu.cn.

PMID: 36270811
DOI: 10.1016/j.isatra.2022.09.045

Abstract

The core idea of traditional adaptive control is to reconstruct parameter estimation errors with known signals and damping injection based on tracking error, while the formulation of desired damping in controller designs is usually a nontrivial task. The main contribution of this paper lies in the development of the classic RISE result and a constructive damping injection procedure for the adaptive tracking control of Euler-Lagrange mechanical systems. By utilizing generalized dynamic scaling function, scalar filtering, the improved RISE method and analyzing the existence of finite escape time of the closed-loop system, a globally asymptotically stable result is obtained with facilitative damping injection, significant order reduction and improved design efficiency when compared with the existing results. Simulations on a fully actuated 2-DOF planar robot manipulator model demonstrate the effectiveness of the proposed methods.

Keywords: Adaptive tracking control; Damping injection; Dynamic scaling; Euler–Lagrange systems; Global asymptotic stability; RISE.