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Asymptotic Stability of Uncertain Lagrangian Systems with Prescribed Transient Response
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0002-4289-2866
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
2019 (English)Conference paper, Published paper (Refereed)
Abstract [en]

This paper considers the asymptotic trackingproblem for 2nd-order nonlinear Lagrangian systems subjectto predefined constraints for the system response, such asmaximum overshoot or minimum convergence rate. In particular,by employing discontinuous adaptive control protocolsand nonsmooth analysis, we extend previous results on funnelcontrol to guarantee at the same time asymptotic trajectorytracking from all the initial conditions that are compliant withthe given funnel. The considered system contains parametricand structural uncertainties, with no boundedness or approximation/parametric factorization assumptions. The response ofthe closed loop system is solely determined by the predefinedfunnel and is independent from the control gain selection.Finally, simulation results verify the theoretical findings.

Place, publisher, year, edition, pages
2019.
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-267489OAI: oai:DiVA.org:kth-267489DiVA, id: diva2:1392581
Conference
IEEE Conference on Decision and Control Nice, France - December 11th-13th 2019
Note

QC 20200210

Available from: 2020-02-07 Created: 2020-02-07 Last updated: 2020-02-10Bibliographically approved

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Verginis, ChristosDimarogonas, Dimos V.

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