Cooperative Game Oriented Optimal Design in Controlling Uncertain Underactuated Mechanical Systems

This paper examines the adaptive robust control for uncertain underactuated mechanical systems. The uncertainty is time varying but bounded. An adaptive robust constraint-following control approach is developed with tunable parameters. For the seeking of optimal control parameters, a two-player coop...

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Bibliographic Details
Main Authors: Wei, Cui, Chen, Ye-Hwa, Fu, Jun, Zhang, Kun
Format: Conference Proceeding
Language:English
Subjects:
Adaptive systems
Automation
Cost function
Games
Optimal control
Robust control
Uncertainty
Online Access:Request full text
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Summary:This paper examines the adaptive robust control for uncertain underactuated mechanical systems. The uncertainty is time varying but bounded. An adaptive robust constraint-following control approach is developed with tunable parameters. For the seeking of optimal control parameters, a two-player cooperative game oriented optimal design problem is formulated. The problem is completely solved with the existence and uniqueness of the optimal solution proved and the analytical expression of the optimal parameters provided. Using the optimal parameters, the proposed adaptive robust control renders dual performance: guaranteed (uniform boundedness and uniform ultimate boundedness) and optimal.
ISSN:1948-3457
DOI:10.1109/ICCA54724.2022.9831894