Adaptive single-stage control for uncertain nonholonomic Euler-Lagrange systems

T. Tao; S. Roy; S. Baldi

doi:10.1109/CDC51059.2022.9993015

Adaptive single-stage control for uncertain nonholonomic Euler-Lagrange systems

T. Tao, S. Roy, S. Baldi

Team Bart De Schutter

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

3 Citations (Scopus)

20 Downloads (Pure)

Abstract

This work introduces a new single-stage adaptive controller for Euler-Lagrange systems with nonholonomic constraints. The proposed mechanism provides a simpler design philosophy compared to double-stage mechanisms (that address kinematics and dynamics in two steps), while achieving analogous stability properties, i.e. stability of both original and internal states. Meanwhile, we do not require direct access to the internal states as required in state-of-the-art single-stage mechanisms. The proposed approach is studied via Lyapunov analysis, validated numerically on wheeled mobile robot dynamics and compared to a standard double-stage approach.

Original language	English
Title of host publication	Proceedings of the IEEE 61st Conference on Decision and Control (CDC 2022)
Publisher	IEEE
Pages	2708-2713
ISBN (Print)	978-1-6654-6761-2
DOIs	https://doi.org/10.1109/CDC51059.2022.9993015
Publication status	Published - 2022
Event	IEEE 61st Conference on Decision and Control (CDC 2022) - Cancún, Mexico Duration: 6 Dec 2022 → 9 Dec 2022

Conference

Conference	IEEE 61st Conference on Decision and Control (CDC 2022)
Country/Territory	Mexico
City	Cancún
Period	6/12/22 → 9/12/22

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

Adaptive systems
Philosophical considerations
Kinematics
Control systems
Stability analysis
Mobile robots
Numerical stability

Access to Document

10.1109/CDC51059.2022.9993015

Adaptive_single-stage_control_for_uncertain_nonholonomic_Euler-Lagrange_systemsFinal published version, 1.43 MB

Cite this

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title = "Adaptive single-stage control for uncertain nonholonomic Euler-Lagrange systems",

abstract = "This work introduces a new single-stage adaptive controller for Euler-Lagrange systems with nonholonomic constraints. The proposed mechanism provides a simpler design philosophy compared to double-stage mechanisms (that address kinematics and dynamics in two steps), while achieving analogous stability properties, i.e. stability of both original and internal states. Meanwhile, we do not require direct access to the internal states as required in state-of-the-art single-stage mechanisms. The proposed approach is studied via Lyapunov analysis, validated numerically on wheeled mobile robot dynamics and compared to a standard double-stage approach.",

keywords = "Adaptive systems, Philosophical considerations, Kinematics, Control systems, Stability analysis, Mobile robots, Numerical stability",

author = "T. Tao and S. Roy and S. Baldi",

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doi = "10.1109/CDC51059.2022.9993015",

language = "English",

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PY - 2022

Y1 - 2022

N2 - This work introduces a new single-stage adaptive controller for Euler-Lagrange systems with nonholonomic constraints. The proposed mechanism provides a simpler design philosophy compared to double-stage mechanisms (that address kinematics and dynamics in two steps), while achieving analogous stability properties, i.e. stability of both original and internal states. Meanwhile, we do not require direct access to the internal states as required in state-of-the-art single-stage mechanisms. The proposed approach is studied via Lyapunov analysis, validated numerically on wheeled mobile robot dynamics and compared to a standard double-stage approach.

AB - This work introduces a new single-stage adaptive controller for Euler-Lagrange systems with nonholonomic constraints. The proposed mechanism provides a simpler design philosophy compared to double-stage mechanisms (that address kinematics and dynamics in two steps), while achieving analogous stability properties, i.e. stability of both original and internal states. Meanwhile, we do not require direct access to the internal states as required in state-of-the-art single-stage mechanisms. The proposed approach is studied via Lyapunov analysis, validated numerically on wheeled mobile robot dynamics and compared to a standard double-stage approach.

KW - Adaptive systems

KW - Philosophical considerations

KW - Kinematics

KW - Control systems

KW - Stability analysis

KW - Mobile robots

KW - Numerical stability

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M3 - Conference contribution

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BT - Proceedings of the IEEE 61st Conference on Decision and Control (CDC 2022)

PB - IEEE

T2 - IEEE 61st Conference on Decision and Control (CDC 2022)

Y2 - 6 December 2022 through 9 December 2022

ER -

Adaptive single-stage control for uncertain nonholonomic Euler-Lagrange systems

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Conference

Bibliographical note

Keywords

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