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Trajectory Tracking Control of Euler-Lagrange Systems with ISS-Like Robustness to Actuator Noises

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Abstract

This paper studies global robust tracking of uncertain Euler-Lagrange systems with input disturbances. The authors develop a robust regulation-based approach for the problem. Specifically, by introducing a novel nonlinear internal model, the authors solve global asymptotic trajectory tracking with disturbance rejection of multiple step/sinusoidal signals with unknown amplitudes, frequencies, and phases. Moreover, the authors show that a robustness property to actuator noises can be guaranteed in a sense of strong integral input-to-state stability (iISS). That is, the closed-loop system is not only iISS but also input-to-state stable (ISS) to small magnitude actuator noises. Furthermore, the authors explore a by-product overparametrized linear regression estimation, coming up with robust estimation of the unknown parameters. Finally, the authors present several numerical examples to illustrate the theoretical results.

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Author information

Authors and Affiliations

  1. School of Automation, Nanjing University of Science and Technology, Nanjing, 210094, China

    Haiwen Wu

  2. Engineering and Technology Institute Groningen, Faculty of Science and Engineering, University of Groningen, Groningen, 9747 AG, The Netherlands

    Haiwen Wu

  3. Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, 511442, China

    Dabo Xu

Authors
  1. Haiwen Wu
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  2. Dabo Xu
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Corresponding authors

Correspondence to Haiwen Wu or Dabo Xu.

Additional information

This paper was supported in part by the National Natural Science Foundation of China under Grant Nos. 61673216 and 62073168; The work of Wu was supported by the China Scholarship Council on his study at the University of Groningen, The Netherlands; The work of Xu was partially done when he was with the School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China.

This paper was recommended for publication by Editor LIU Tengfei.

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Wu, H., Xu, D. Trajectory Tracking Control of Euler-Lagrange Systems with ISS-Like Robustness to Actuator Noises. J Syst Sci Complex 35, 1719–1747 (2022). https://doi.org/10.1007/s11424-022-0219-4

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  • DOI: https://doi.org/10.1007/s11424-022-0219-4

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