Inverse optimal control of a nonlinear Euler-Lagrange system, part II: Output feedback
Previous inverse optimal adaptive controllers (IOACs) have been developed that can handle structured (i.e., linear in the parameters (LP)) uncertainty for a particular class of nonlinear systems. A full-state feedback IOAC is developed in the companion Part I paper for Euler-Lagrange systems with an...
Gespeichert in:
| Hauptverfasser: | , , , |
|---|---|
| Format: | Tagungsbericht |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext bestellen |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 332 |
|---|---|
| container_issue | |
| container_start_page | 327 |
| container_title | |
| container_volume | |
| creator | Dupree, K. Johnson, M. Patre, P.M. Dixon, W.E. |
| description | Previous inverse optimal adaptive controllers (IOACs) have been developed that can handle structured (i.e., linear in the parameters (LP)) uncertainty for a particular class of nonlinear systems. A full-state feedback IOAC is developed in the companion Part I paper for Euler-Lagrange systems with an uncertain time varying inertia matrix. In this paper, an output feedback IOAC is developed to asymptotically minimize a meaningful performance index while the generalized coordinates of a nonlinear Euler-Lagrange system asymptotically track a desired time-varying trajectory despite LP uncertainty. A Lyapunov analysis is provided to examine the stability of the developed output feedback optimal controller, and preliminary experimental results illustrate the performance of the controller. |
| doi_str_mv | 10.1109/CDC.2009.5399758 |
| format | Conference Proceeding |
| fullrecord | <record><control><sourceid>ieee_6IE</sourceid><recordid>TN_cdi_ieee_primary_5399758</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>5399758</ieee_id><sourcerecordid>5399758</sourcerecordid><originalsourceid>FETCH-LOGICAL-i175t-233b89a77be13e4db5f1598f769b7652f7bced7644750f00c75ce1b69b60e0a03</originalsourceid><addsrcrecordid>eNpVkE1Lw0AURUe0YK3dC27mB5j45jvjTtKqgUI36rbMpG9KNE3CZCr031uwG1eXy4EL5xJyxyBnDOxjuShzDmBzJaw1qrggc2sKJrmUojBcXP7rTF-RKTDLMs6ZnpCpsZmWYDW7Jjfj-AUABWg9JZ9V94NxRNoPqdm7ltZ9l2Lf0j5QR7u-a5sOXaTLQ4sxW7lddN0O6XgcE-4f6OBiolX1RNeHNBwSDYhb7-rvWzIJrh1xfs4Z-XhZvpdv2Wr9WpXPq6xhRqWMC-EL64zxyATKrVeBKVsEo603WvFgfI1bo6U0CgJAbVSNzJ-oBgQHYkbu_3YbRNwM8aQQj5vzReIXi1JVRg</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>Inverse optimal control of a nonlinear Euler-Lagrange system, part II: Output feedback</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Dupree, K. ; Johnson, M. ; Patre, P.M. ; Dixon, W.E.</creator><creatorcontrib>Dupree, K. ; Johnson, M. ; Patre, P.M. ; Dixon, W.E.</creatorcontrib><description>Previous inverse optimal adaptive controllers (IOACs) have been developed that can handle structured (i.e., linear in the parameters (LP)) uncertainty for a particular class of nonlinear systems. A full-state feedback IOAC is developed in the companion Part I paper for Euler-Lagrange systems with an uncertain time varying inertia matrix. In this paper, an output feedback IOAC is developed to asymptotically minimize a meaningful performance index while the generalized coordinates of a nonlinear Euler-Lagrange system asymptotically track a desired time-varying trajectory despite LP uncertainty. A Lyapunov analysis is provided to examine the stability of the developed output feedback optimal controller, and preliminary experimental results illustrate the performance of the controller.</description><identifier>ISSN: 0191-2216</identifier><identifier>ISBN: 9781424438716</identifier><identifier>ISBN: 1424438713</identifier><identifier>EISBN: 9781424438723</identifier><identifier>EISBN: 1424438721</identifier><identifier>DOI: 10.1109/CDC.2009.5399758</identifier><identifier>LCCN: 79-640961</identifier><language>eng</language><publisher>IEEE</publisher><subject>Adaptive control ; Control systems ; Nonlinear control systems ; Nonlinear systems ; Optimal control ; Output feedback ; Performance analysis ; Programmable control ; Time varying systems ; Uncertainty</subject><ispartof>Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, 2009, p.327-332</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/5399758$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,776,780,785,786,2052,27902,54895</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/5399758$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Dupree, K.</creatorcontrib><creatorcontrib>Johnson, M.</creatorcontrib><creatorcontrib>Patre, P.M.</creatorcontrib><creatorcontrib>Dixon, W.E.</creatorcontrib><title>Inverse optimal control of a nonlinear Euler-Lagrange system, part II: Output feedback</title><title>Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference</title><addtitle>CDC</addtitle><description>Previous inverse optimal adaptive controllers (IOACs) have been developed that can handle structured (i.e., linear in the parameters (LP)) uncertainty for a particular class of nonlinear systems. A full-state feedback IOAC is developed in the companion Part I paper for Euler-Lagrange systems with an uncertain time varying inertia matrix. In this paper, an output feedback IOAC is developed to asymptotically minimize a meaningful performance index while the generalized coordinates of a nonlinear Euler-Lagrange system asymptotically track a desired time-varying trajectory despite LP uncertainty. A Lyapunov analysis is provided to examine the stability of the developed output feedback optimal controller, and preliminary experimental results illustrate the performance of the controller.</description><subject>Adaptive control</subject><subject>Control systems</subject><subject>Nonlinear control systems</subject><subject>Nonlinear systems</subject><subject>Optimal control</subject><subject>Output feedback</subject><subject>Performance analysis</subject><subject>Programmable control</subject><subject>Time varying systems</subject><subject>Uncertainty</subject><issn>0191-2216</issn><isbn>9781424438716</isbn><isbn>1424438713</isbn><isbn>9781424438723</isbn><isbn>1424438721</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2009</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpVkE1Lw0AURUe0YK3dC27mB5j45jvjTtKqgUI36rbMpG9KNE3CZCr031uwG1eXy4EL5xJyxyBnDOxjuShzDmBzJaw1qrggc2sKJrmUojBcXP7rTF-RKTDLMs6ZnpCpsZmWYDW7Jjfj-AUABWg9JZ9V94NxRNoPqdm7ltZ9l2Lf0j5QR7u-a5sOXaTLQ4sxW7lddN0O6XgcE-4f6OBiolX1RNeHNBwSDYhb7-rvWzIJrh1xfs4Z-XhZvpdv2Wr9WpXPq6xhRqWMC-EL64zxyATKrVeBKVsEo603WvFgfI1bo6U0CgJAbVSNzJ-oBgQHYkbu_3YbRNwM8aQQj5vzReIXi1JVRg</recordid><startdate>200912</startdate><enddate>200912</enddate><creator>Dupree, K.</creator><creator>Johnson, M.</creator><creator>Patre, P.M.</creator><creator>Dixon, W.E.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>200912</creationdate><title>Inverse optimal control of a nonlinear Euler-Lagrange system, part II: Output feedback</title><author>Dupree, K. ; Johnson, M. ; Patre, P.M. ; Dixon, W.E.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-233b89a77be13e4db5f1598f769b7652f7bced7644750f00c75ce1b69b60e0a03</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2009</creationdate><topic>Adaptive control</topic><topic>Control systems</topic><topic>Nonlinear control systems</topic><topic>Nonlinear systems</topic><topic>Optimal control</topic><topic>Output feedback</topic><topic>Performance analysis</topic><topic>Programmable control</topic><topic>Time varying systems</topic><topic>Uncertainty</topic><toplevel>online_resources</toplevel><creatorcontrib>Dupree, K.</creatorcontrib><creatorcontrib>Johnson, M.</creatorcontrib><creatorcontrib>Patre, P.M.</creatorcontrib><creatorcontrib>Dixon, W.E.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Dupree, K.</au><au>Johnson, M.</au><au>Patre, P.M.</au><au>Dixon, W.E.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Inverse optimal control of a nonlinear Euler-Lagrange system, part II: Output feedback</atitle><btitle>Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference</btitle><stitle>CDC</stitle><date>2009-12</date><risdate>2009</risdate><spage>327</spage><epage>332</epage><pages>327-332</pages><issn>0191-2216</issn><isbn>9781424438716</isbn><isbn>1424438713</isbn><eisbn>9781424438723</eisbn><eisbn>1424438721</eisbn><abstract>Previous inverse optimal adaptive controllers (IOACs) have been developed that can handle structured (i.e., linear in the parameters (LP)) uncertainty for a particular class of nonlinear systems. A full-state feedback IOAC is developed in the companion Part I paper for Euler-Lagrange systems with an uncertain time varying inertia matrix. In this paper, an output feedback IOAC is developed to asymptotically minimize a meaningful performance index while the generalized coordinates of a nonlinear Euler-Lagrange system asymptotically track a desired time-varying trajectory despite LP uncertainty. A Lyapunov analysis is provided to examine the stability of the developed output feedback optimal controller, and preliminary experimental results illustrate the performance of the controller.</abstract><pub>IEEE</pub><doi>10.1109/CDC.2009.5399758</doi><tpages>6</tpages></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | ISSN: 0191-2216 |
| ispartof | Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, 2009, p.327-332 |
| issn | 0191-2216 |
| language | eng |
| recordid | cdi_ieee_primary_5399758 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Adaptive control Control systems Nonlinear control systems Nonlinear systems Optimal control Output feedback Performance analysis Programmable control Time varying systems Uncertainty |
| title | Inverse optimal control of a nonlinear Euler-Lagrange system, part II: Output feedback |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-02-02T20%3A11%3A30IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=Inverse%20optimal%20control%20of%20a%20nonlinear%20Euler-Lagrange%20system,%20part%20II:%20Output%20feedback&rft.btitle=Proceedings%20of%20the%2048h%20IEEE%20Conference%20on%20Decision%20and%20Control%20(CDC)%20held%20jointly%20with%202009%2028th%20Chinese%20Control%20Conference&rft.au=Dupree,%20K.&rft.date=2009-12&rft.spage=327&rft.epage=332&rft.pages=327-332&rft.issn=0191-2216&rft.isbn=9781424438716&rft.isbn_list=1424438713&rft_id=info:doi/10.1109/CDC.2009.5399758&rft_dat=%3Cieee_6IE%3E5399758%3C/ieee_6IE%3E%3Curl%3E%3C/url%3E&rft.eisbn=9781424438723&rft.eisbn_list=1424438721&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=5399758&rfr_iscdi=true |