Decentralized Adaptive Control of Euler–Lagrange Mechanical System
The problem of decentralized control Euler–Lagrange like mechanical systems with high-order interconnections is investigated in this paper. A new decentralized adaptation scheme is proposed to estimate the unknown structure bounds. Then, a decentralized adaptive controller is constructed to guarantee the uniformly ultimate boundedness of the system and the exponential convergence of the tracking error. Finally, a numerical example is given to demonstrate the validity of the results.
Keywords:Euler–Lagrange equations Decentralized control Adaptive Uniformly ultimate
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