Singular perturbation-based saturated adaptive control for underactuated Euler-Lagrange systems.
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DOI: 10.1016/j.isatra.2021.02.036
Abstract: This paper proposes a saturated smooth adaptive controller for regulating a certain type of underactuated Euler-Lagrange systems (UELSs) with modeling uncertainties and control saturations based on a singular perturbation approach. Compared with relevent literature, the… read more here.
Keywords: underactuated euler; lagrange systems; control; singular perturbation ... See more keywords