Inverse optimal adaptive output feedback control of a class of Euler-Lagrange systems: A nonlinear filter based approach


Aksoy O., ZERGEROĞLU E., TATLICIOĞLU E.

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 2021 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Publication Date: 2021
  • Doi Number: 10.1177/09596518211054925
  • Title of Journal : PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
  • Keywords: Inverse optimal control, nonlinear control, adaptive output feedback, nonlinear filter, Euler-Lagrange systems, stability analysis, TRACKING

Abstract

In this paper, we present an inverse optimal tracking controller for a class of Euler--Lagrange systems having uncertainties in their dynamical terms under the restriction that only the output state (i.e. position for robotic systems) is available for measurement. Specifically, a nonlinear filter is used to generate a velocity substitute, then a controller formulation ensuring a globally asymptotically stable closed-loop system while minimizing a performance index despite the presence of parametric uncertainty, is proposed. The stability proof is established using a Lyapunov analysis of the system with proposed optimal output feedback controller. Inverse optimality is derived via designing a meaningful cost function utilizing the control Lyapunov function. Numerical simulations are presented to illustrate the viability and performance of the derived controller.