Flatness based ADRC Control of Lagrangian Systems: A moving crane.
Sign Up to like & getrecommendations! Published in 2020 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2020.12.1870
Abstract: Abstract A procedure is described for direct tangent linearization, around a given equilibrium point, of non-linear multivariable Lagrangian systems, in terms of second order variational expansions of the Lagrangian function. When the linearized model is… read more here.
Keywords: control; lagrangian systems; flatness based; based adrc ... See more keywords
Small oscillations of non-dissipative Lagrangian systems
Sign Up to like & getrecommendations! Published in 2019 at "Journal of Mathematical Physics"
DOI: 10.1063/1.5049438
Abstract: The small oscillations of an arbitrary scleronomous system subject to time-independent non dissipative forces are discussed. The linearized equations of motion are solved by quadratures. As in the conservative case, the general integral is shown… read more here.
Keywords: non dissipative; dissipative lagrangian; oscillations non; small oscillations ... See more keywords
Provably Robust Learning-Based Approach for High-Accuracy Tracking Control of Lagrangian Systems
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2019.2896728
Abstract: Lagrangian systems represent a wide range of robotic systems, including manipulators, wheeled and legged robots, and quadrotors. Inverse dynamics control and feedforward linearization are typically used to convert the complex nonlinear dynamics of Lagrangian systems… read more here.
Keywords: system; high accuracy; control; lagrangian systems ... See more keywords
Approximation-Free Tracking Error Constraint Control for Lagrangian Systems
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DOI: 10.1109/tie.2016.2613990
Abstract: This paper proposes an approximation-free adaptive tracking error constraint control scheme for unknown Lagrangian systems. A transformed filtered tracking error surface has been constructed to guarantee the transient and steady-state performance of the position control… read more here.
Keywords: tracking error; control; lagrangian systems; constraint control ... See more keywords
Jamming-Resilient Synchronization of Networked Lagrangian Systems With Quantized Sampling Data
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Industrial Informatics"
DOI: 10.1109/tii.2022.3148395
Abstract: A wide range of cyber–physical systems can be modeled as Euler–Lagrange dynamics, whose inherent nonlinearities bring additional difficulties in the design and analysis of controllers for such systems. The objective of this article is to… read more here.
Keywords: networked lagrangian; sampling data; lagrangian systems; resilient synchronization ... See more keywords