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An Adaptive Control Framework for Underactuated Switched Euler–Lagrange Systems.

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Title: An Adaptive Control Framework for Underactuated Switched Euler–Lagrange Systems.
Authors: Roy, Spandan1 sroy002@gmail.com, Baldi, Simone2 s.baldi@tudelft.nl, Ioannou, Petros A.3 ioannou@usc.edu
Source: IEEE Transactions on Automatic Control. Aug2022, Vol. 67 Issue 8, p4202-4209. 8p.
Subjects: Euler-Lagrange system, Uncertain systems, Euler-Lagrange equations
Abstract: The control of underactuated Euler–Lagrange systems with uncertain and switched parameters is an important problem whose solution has many applications. The problem is challenging as standard adaptive control techniques do not extend to this class of systems due to structural constraints that lead to parameterization difficulties. This note proposes an adaptive switched control framework that handles the uncertainty and switched dynamics without imposing structural constraints. A case study inspired by autonomous vessel operations is used to show the effectiveness of the proposed approach. [ABSTRACT FROM AUTHOR]
Copyright of IEEE Transactions on Automatic Control is the property of IEEE and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Data: An Adaptive Control Framework for Underactuated Switched Euler–Lagrange Systems.
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  Data: <searchLink fieldCode="AR" term="%22Roy%2C+Spandan%22">Roy, Spandan</searchLink><relatesTo>1</relatesTo><i> sroy002@gmail.com</i><br /><searchLink fieldCode="AR" term="%22Baldi%2C+Simone%22">Baldi, Simone</searchLink><relatesTo>2</relatesTo><i> s.baldi@tudelft.nl</i><br /><searchLink fieldCode="AR" term="%22Ioannou%2C+Petros+A%2E%22">Ioannou, Petros A.</searchLink><relatesTo>3</relatesTo><i> ioannou@usc.edu</i>
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  Data: The control of underactuated Euler–Lagrange systems with uncertain and switched parameters is an important problem whose solution has many applications. The problem is challenging as standard adaptive control techniques do not extend to this class of systems due to structural constraints that lead to parameterization difficulties. This note proposes an adaptive switched control framework that handles the uncertainty and switched dynamics without imposing structural constraints. A case study inspired by autonomous vessel operations is used to show the effectiveness of the proposed approach. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
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  Data: <i>Copyright of IEEE Transactions on Automatic Control is the property of IEEE and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.1109/TAC.2021.3108507
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        Text: English
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      – SubjectFull: Uncertain systems
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      – SubjectFull: Euler-Lagrange equations
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            NameFull: Roy, Spandan
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              Text: Aug2022
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