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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/47004

Title: Decentralized Adaptive Control of Euler-Lagrange Mechanical System
Authors: Cheng-Fa Cheng;Tse-Han Chen
Contributors: 國立臺灣海洋大學:通訊科學系
Date: 2013
Issue Date: 2018-06-27T02:01:33Z
Publisher: Proceedings of the 2nd International Conference on Intelligent Technologies and Engineering Systems
Abstract: Abstract: The problem of decentralized control Euler–Lagrange like mechanical systems with high-order interconnections is investigated in this paper. A new decentralized adaptation scheme is proposed to estimate the unknown structure bounds. Then, a decentralized adaptive controller is constructed to guarantee the uniformly ultimate boundedness of the system and the exponential convergence of the tracking error. Finally, a numerical example is given to demonstrate the validity of the results.
Relation: (ICITES2013) pp 749-755
URI: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/47004
Appears in Collections:[Department of Communications Navigation and Control Engineering] Periodical Articles

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