Trajectory Tracking Control of Uncertain Euler-Lagrange Systems: A Robust Control Approach

Xingxiu He; Maobin Lu; Fang Deng

doi:10.1109/ROBIO54168.2021.9739471

Trajectory Tracking Control of Uncertain Euler-Lagrange Systems: A Robust Control Approach

Xingxiu He, Maobin Lu^*, Fang Deng

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

In this paper, we consider the trajectory tracking control problem for a class of uncertain Euler-Lagrange systems. Different from the well-known Slotine-Li control law, we propose a robust control law by immerging an internal model. It depends on the tracking error of the position and that of the velocity. By adopting the change supply function technique, we construct a strict Lyapunov function and show that all states of the closed-loop system are stable and the tracking error tends to zero asymptotically. The effectiveness of the proposed approach is illustrated by its application to trajectory tracking control of a three-link cylindrical robot arm.

Original language	English
Title of host publication	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1855-1860
Number of pages	6
ISBN (Electronic)	9781665405355
DOIs	https://doi.org/10.1109/ROBIO54168.2021.9739471
Publication status	Published - 2021
Event	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021 - Sanya, China Duration: 27 Dec 2021 → 31 Dec 2021

Publication series

Name	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

Conference

Conference	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
Country/Territory	China
City	Sanya
Period	27/12/21 → 31/12/21

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10.1109/ROBIO54168.2021.9739471

Cite this

He, X., Lu, M., & Deng, F. (2021). Trajectory Tracking Control of Uncertain Euler-Lagrange Systems: A Robust Control Approach. In 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021 (pp. 1855-1860). (2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO54168.2021.9739471

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title = "Trajectory Tracking Control of Uncertain Euler-Lagrange Systems: A Robust Control Approach",

abstract = "In this paper, we consider the trajectory tracking control problem for a class of uncertain Euler-Lagrange systems. Different from the well-known Slotine-Li control law, we propose a robust control law by immerging an internal model. It depends on the tracking error of the position and that of the velocity. By adopting the change supply function technique, we construct a strict Lyapunov function and show that all states of the closed-loop system are stable and the tracking error tends to zero asymptotically. The effectiveness of the proposed approach is illustrated by its application to trajectory tracking control of a three-link cylindrical robot arm.",

author = "Xingxiu He and Maobin Lu and Fang Deng",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021 ; Conference date: 27-12-2021 Through 31-12-2021",

year = "2021",

doi = "10.1109/ROBIO54168.2021.9739471",

language = "English",

series = "2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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}

He, X, Lu, M & Deng, F 2021, Trajectory Tracking Control of Uncertain Euler-Lagrange Systems: A Robust Control Approach. in 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021. 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021, Institute of Electrical and Electronics Engineers Inc., pp. 1855-1860, 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021, Sanya, China, 27/12/21. https://doi.org/10.1109/ROBIO54168.2021.9739471

Trajectory Tracking Control of Uncertain Euler-Lagrange Systems: A Robust Control Approach. / He, Xingxiu; Lu, Maobin ; Deng, Fang.
2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 1855-1860 (2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Lu, Maobin

AU - Deng, Fang

PY - 2021

Y1 - 2021

N2 - In this paper, we consider the trajectory tracking control problem for a class of uncertain Euler-Lagrange systems. Different from the well-known Slotine-Li control law, we propose a robust control law by immerging an internal model. It depends on the tracking error of the position and that of the velocity. By adopting the change supply function technique, we construct a strict Lyapunov function and show that all states of the closed-loop system are stable and the tracking error tends to zero asymptotically. The effectiveness of the proposed approach is illustrated by its application to trajectory tracking control of a three-link cylindrical robot arm.

AB - In this paper, we consider the trajectory tracking control problem for a class of uncertain Euler-Lagrange systems. Different from the well-known Slotine-Li control law, we propose a robust control law by immerging an internal model. It depends on the tracking error of the position and that of the velocity. By adopting the change supply function technique, we construct a strict Lyapunov function and show that all states of the closed-loop system are stable and the tracking error tends to zero asymptotically. The effectiveness of the proposed approach is illustrated by its application to trajectory tracking control of a three-link cylindrical robot arm.

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DO - 10.1109/ROBIO54168.2021.9739471

M3 - Conference contribution

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T3 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

SP - 1855

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BT - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

PB - Institute of Electrical and Electronics Engineers Inc.

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ER -

He X, Lu M , Deng F. Trajectory Tracking Control of Uncertain Euler-Lagrange Systems: A Robust Control Approach. In 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 1855-1860. (2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021). doi: 10.1109/ROBIO54168.2021.9739471

Trajectory Tracking Control of Uncertain Euler-Lagrange Systems: A Robust Control Approach

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