An Adaptive Control Framework for Underactuated Switched Euler-Lagrange Systems

The control of underactuated Euler-Lagrange systems with uncertain and switched parameters is an important problem whose solution has many applications. The problem is challenging as standard adaptive control techniques do not extend to this class of systems due to structural constraints that lead t...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2022-08, Vol.67 (8), p.4202-4209
Main Authors: Roy, Spandan, Baldi, Simone, Ioannou, Petros A.
Format: Article
Language:English
Subjects:
Adaptive control
Control systems
Cranes
Dynamic structural analysis
Euler–Lagrange (EL) systems
Gold
Parameter uncertainty
Parameterization
robust adaptive control
switched systems
Switches
Uncertainty
underactuated systems
Vehicle dynamics
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Summary:The control of underactuated Euler-Lagrange systems with uncertain and switched parameters is an important problem whose solution has many applications. The problem is challenging as standard adaptive control techniques do not extend to this class of systems due to structural constraints that lead to parameterization difficulties. This note proposes an adaptive switched control framework that handles the uncertainty and switched dynamics without imposing structural constraints. A case study inspired by autonomous vessel operations is used to show the effectiveness of the proposed approach.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2021.3108507