TY - GEN
T1 - Robust control for third-order electro-mechanical systems with partially unknown dynamics under state constraints
AU - Lozano, Alejandro
AU - Ballesteros, Mariana
AU - Cruz-Ortiz, David
AU - Salgado, Ivan
AU - Huegel, Joel C.
AU - Chairez, Isaac
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - This work presents the design of a control trajec-tory algorithm based on Barrier Lyapunov functions (BLF) for a class of third-order electro-mechanical systems. The method considers unknown control gains and uncertain plant parame-ters, a common problem in control engineering applications. In order to deal with the uncertain parameters, this study proposes a backstepping adaptive strategy applying Nussbaum functions to know the sign of the control gains. The BLF imposes partial constraints to keep the trajectories of the system inside a safe operation set. The proposed controller is tested in a virtual one-link robotic manipulator including actuator dynamics to develop an adequate trajectory tracking. The maximum tracking error norm was 0.02, which fulfilled the maximum constrained bound of 0.5.
AB - This work presents the design of a control trajec-tory algorithm based on Barrier Lyapunov functions (BLF) for a class of third-order electro-mechanical systems. The method considers unknown control gains and uncertain plant parame-ters, a common problem in control engineering applications. In order to deal with the uncertain parameters, this study proposes a backstepping adaptive strategy applying Nussbaum functions to know the sign of the control gains. The BLF imposes partial constraints to keep the trajectories of the system inside a safe operation set. The proposed controller is tested in a virtual one-link robotic manipulator including actuator dynamics to develop an adequate trajectory tracking. The maximum tracking error norm was 0.02, which fulfilled the maximum constrained bound of 0.5.
KW - Barrier Lyapunov functions
KW - Nassbaum functions
KW - backstepping control
UR - http://www.scopus.com/inward/record.url?scp=85134340101&partnerID=8YFLogxK
U2 - 10.1109/CoDIT55151.2022.9804099
DO - 10.1109/CoDIT55151.2022.9804099
M3 - Contribución a la conferencia
AN - SCOPUS:85134340101
T3 - 2022 8th International Conference on Control, Decision and Information Technologies, CoDIT 2022
SP - 1037
EP - 1042
BT - 2022 8th International Conference on Control, Decision and Information Technologies, CoDIT 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th International Conference on Control, Decision and Information Technologies, CoDIT 2022
Y2 - 17 May 2022 through 20 May 2022
ER -