Bounded‐input prescribed performance control of uncertain Euler–Lagrange systems. Issue 1 (1st January 2019)

• Record Type: Journal Article
• Authors: Jabbari Asl, Hamed; Narikiyo, Tatsuo; Kawanishi, Michihiro
• Is Part Of: IET control theory & applications. Volume 13:Issue 1(2019)
• Page Start: 17
• Page End: 26
• Publication Date: 2019-01-01
• Subjects: adaptive control -- nonlinear control systems -- medical robotics -- control system synthesis -- uncertain systems -- closed loop systems -- neurocontrollers -- robust control -- variable structure systems; bounded‐input prescribed performance control -- uncertain Euler–Lagrange systems -- Euler–Lagrange dynamic systems -- auxiliary dynamics -- closed‐loop system -- adaptive multilayer neural network -- PP controller -- robust term -- stability analysis -- saturated control command -- initial conditions -- external disturbances -- lower‐limb robotic exoskeleton -- sliding mode control; Control theory -- Periodicals; Automatic control -- Periodicals; 629.8312
• DOI: 10.1049/iet-cta.2018.5480
• Languages: English
• ISSNs: 1751-8644

Abstract

Abstract : This study proposes a novel saturated prescribed performance (PP) controller for Euler–Lagrange dynamic systems. The design of bounded‐input controller is facilitated by means of introduction of auxiliary dynamics in the closed‐loop system. The controller takes advantages of using an adaptive multilayer neural network and a robust term to deal with uncertainties of the system. Through the stability analysis, it is shown that PPwith saturated control command is feasible having certain constraints on initial conditions and external disturbances. The proposed controller is validated through experimental and simulation studies conducted on a lower‐limb robotic exoskeleton.