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题名: Decentralized Adaptive Control of Euler–Lagrange Mechanical System
作者: Cheng-Fa Cheng
Tse-Han Chen
贡献者: 國立臺灣海洋大學:通訊科學系
关键词: Uniformly ultimate
Decentralized control
Euler–Lagrange equations
日期: 2014
上传时间: 2018-06-27T02:24:25Z
出版者: Proceedings of the 2nd International Conference on Intelligent Technologies and Engineering Systems
摘要: 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.
關聯: (ICITES2013) pp 749-755
显示于类别:[通訊與導航工程學系] 期刊論文


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