PROJECT TITLE :

Collocated Adaptive Control of Underactuated Mechanical Systems

ABSTRACT:

Collocated adaptive management of underactuated mechanical systems continues to be a concern for the management community. The main difficulty comes from the nonlinearity of the collocated inverse dynamics with respect to the base parameters, which forbids the direct application of classical adaptive management schemes. This paper extends and encompasses the Slotine's adaptive control, that was developed for totally actuated mechanical systems, to stabilize the collocated state area of an underactuated mechanical system. The key purpose is to outline the sliding variable as the difference between the system's velocity and an exogenous state whose dynamics is considered as control input. We tend to first revisit the Slotine's lead to read of this definition and then show how to increase it to the underactuated case. Stability and convergence of time-varying reference trajectories for the collocated dynamics are shown to be in the sense of Lyapunov. International well-posedness of the control laws is achieved by suggests that of a replacement algebraic property of the mass matrix. Simulations, comparisons to existing control strategies, and experimental results on a two-link manipulator verify the soundness of the proposed approach.