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Nonlinear estimator-based funnel tracking control for a class of perturbed Euler-Lagrange systems

Author

Listed:
  • Jin, Xiaozheng
  • Tong, Xingcheng
  • Chi, Jing
  • Wu, Xiaoming
  • Wang, Hai

Abstract

In this article, a nonlinear estimator-based funnel perturbation rejection control method is investigated to manage the trajectory tracking problem of a class of perturbed Euler-Lagrange (EL) systems. To reinforce the perturbation rejection ability, perturbation estimators with nonlinear dynamics are established by employing a filtering operation, which can result in asymptotic convergence of estimation errors. Besides, by devising funnel variables with an exponential decaying function, a funnel control strategy is constructed to ensure tracking errors restricting into a prescribed region under the influence of persistent perturbations. Moreover, the tracking errors of the Euler-Lagrange system are concluded to be asymptotic stability with prescribed performance via Lyapunov stability theory. Finally, simulations validate the effectiveness of the developed control technology.

Suggested Citation

  • Jin, Xiaozheng & Tong, Xingcheng & Chi, Jing & Wu, Xiaoming & Wang, Hai, 2024. "Nonlinear estimator-based funnel tracking control for a class of perturbed Euler-Lagrange systems," Applied Mathematics and Computation, Elsevier, vol. 471(C).
    • Handle: RePEc:eee:apmaco:v:471:y:2024:i:c:s0096300324000663
    DOI: 10.1016/j.amc.2024.128594
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