The adaptive tracking state-feedback control for underactuated mechanical systems with outputs characterized by global relative degree equal to two is addressed. A new control technique called virtual control is proposed. Fictitious control inputs and outputs are introduced to achieve full actuation: the key step is to find the reference signals for the fictitious outputs so that the resulting virtual adaptive controls are zero. The adaptive control of an underactuated three-link walking robot with unknown torso mass is designed according to the proposed control strategy. Simulations show that adaptation is crucial for stable walking. (C) 2021 Elsevier Ltd. All rights reserved.
Gnucci, M., Marino, R. (2021). Adaptive tracking control for underactuated mechanical systems with relative degree two. AUTOMATICA, 129 [10.1016/j.automatica.2021.109633].
Adaptive tracking control for underactuated mechanical systems with relative degree two
Gnucci M.;Marino R.
2021-01-01
Abstract
The adaptive tracking state-feedback control for underactuated mechanical systems with outputs characterized by global relative degree equal to two is addressed. A new control technique called virtual control is proposed. Fictitious control inputs and outputs are introduced to achieve full actuation: the key step is to find the reference signals for the fictitious outputs so that the resulting virtual adaptive controls are zero. The adaptive control of an underactuated three-link walking robot with unknown torso mass is designed according to the proposed control strategy. Simulations show that adaptation is crucial for stable walking. (C) 2021 Elsevier Ltd. All rights reserved.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
