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
Full text not available from this repository.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.
Item Type: | Article |
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Subjects: | UNSPECIFIED |
Divisions: | Div F > Control |
Depositing User: | Cron Job |
Date Deposited: | 30 Oct 2017 20:09 |
Last Modified: | 10 Apr 2021 01:02 |
DOI: | 10.1109/TAC.2017.2662804 |