2023
DOI: 10.1017/s0263574722001874
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Adaptive robust control for Pendubot with matched–mismatched uncertainty via constraint-following

Abstract: The study presents an adaptive robust control method for the Pendubot subjects to matched and mismatched uncertainty. First, the control task is formatted as a reduced-dimension equality constraint of the system states. To handle the matched and mismatched uncertainties, an orthogonal decomposition method is employed to make the mismatched part disappear after decomposition. Based on the above, an adaptive robust control law based on constraint-following is devised. By the Lyapunov approach, it is rigorously p… Show more

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Cited by 4 publications
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