Nonlinear estimator-based funnel tracking control for a class of perturbed Euler-Lagrange systems

Xiaozheng Jin, Xingcheng Tong, Jing Chi, Xiaoming Wu and Hai Wang

Applied Mathematics and Computation, 2024, vol. 471, issue C

Abstract: In this article, a nonlinear estimator-based funnel perturbation rejection control method is investigated to manage the trajectory tracking problem of a class of perturbed Euler-Lagrange (EL) systems. To reinforce the perturbation rejection ability, perturbation estimators with nonlinear dynamics are established by employing a filtering operation, which can result in asymptotic convergence of estimation errors. Besides, by devising funnel variables with an exponential decaying function, a funnel control strategy is constructed to ensure tracking errors restricting into a prescribed region under the influence of persistent perturbations. Moreover, the tracking errors of the Euler-Lagrange system are concluded to be asymptotic stability with prescribed performance via Lyapunov stability theory. Finally, simulations validate the effectiveness of the developed control technology.

Keywords: Nonlinear estimators; Funnel control; Perturbation rejection; Euler-Lagrange systems (search for similar items in EconPapers)
Date: 2024
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Persistent link: https://EconPapers.repec.org/RePEc:eee:apmaco:v:471:y:2024:i:c:s0096300324000663

DOI: 10.1016/j.amc.2024.128594

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