Multivalued Robust Tracking Control of Lagrange Systems: Continuous and Discrete-Time Algorithms

Miranda-Villatoro, FA and Brogliato, B and Castanos, F (2017) Multivalued Robust Tracking Control of Lagrange Systems: Continuous and Discrete-Time Algorithms. IEEE Transactions on Automatic Control, 62. pp. 4436-4450. ISSN 0018-9286

Abstract

The robust trajectory tracking of fully actuated Lagrange systems is studied. Exogenous perturbations as well as parameter uncertainties are taken into account. A family of set-valued passivity-based controllers is proposed, including first-order sliding-mode schemes. The existence of solutions and the stability of the closed-loop system are established in continuous time. An implicit discretization approach is proposed and the well posedness and the stability of the closed-loop system are studied. Numerical simulations illustrate the effectiveness of the proposed discrete-time controller.