Publication

Output regulation of Euler-Lagrange systems based on error and velocity feedback

Wu, H., Xu, D. & Jayawardhana, B., 2020, (Accepted/In press) 39th Chinese Control Conference. 6 p.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Based on a certainty equivalence property, we propose an adaptive internal model control law that solves global robust output regulation of uncertain Euler-Lagrange (EL) systems based only on error (or relative position) and velocity feedback. The proposed controller does not require apriori knowledge of reference signal and its derivatives, which are commonly assumed in literature. It enables a self-learning mechanism of the closed-loop EL systems where the adaptive internal model-based controller is able to learn the desired trajectories and adapt itself to the uncertain plant parameters. Furthermore, the analysis offers insights to the design of internal model-based output regulation for multivariable nonlinear systems with uniform vector relative degree two.
Original languageEnglish
Title of host publication39th Chinese Control Conference
Number of pages6
Publication statusAccepted/In press - 2020
Event

CCC2020
39th Chinese Control Conference
- Shenyang, China
Duration: 27-Jul-202030-Jul-2020

Conference

Conference

CCC2020
39th Chinese Control Conference
CountryChina
CityShenyang
Period27/07/202030/07/2020

Event



CCC2020
39th Chinese Control Conference

27/07/202030/07/2020

Shenyang, China

Event: Conference

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