2014/05/20 by Francesco Romanò, Daniele Pucci, Romano, Francesco +3 · 1 citation
Engineering · #Adaptive Control of Nonlinear Systems #Control and Dynamics of Mobile Robots #FOS: Electrical engineering #Robotic Locomotion and Control #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1405.5005
openalex publication_date 2014/05/20 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Collocated adaptive control of underactuated systems is still a main concern for the control community, all the more so because the collocated dynamics is no longer linear with respect to the constant base parameters. This work extends and encompasses the well known adaptive control result for fully actuated mechanical systems to the underactuated case. The key point is the introduction of a fictitious control input that allows us to consider the complete system dynamics, which is assumed to be linear with respect to the base parameters. Local stability and convergence of time varying reference trajectories for the collocated dynamics are demonstrated by using Lyapunov and Barbalat arguments. Simulation and experimental results on a two-link manipulator verify the soundness of the proposed approach.