CUED Publications database

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

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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
Subjects: UNSPECIFIED
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 30 Oct 2017 20:09
Last Modified: 02 Sep 2021 04:35
DOI: 10.1109/TAC.2017.2662804