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<p>Research on adaptive control for time-varying parameters (TVPs) in nonlinear systems has gained considerable interest. The trajectory tracking problem for nonlinear Euler-Lagrange (EL) systems is investigated in the paper under TVPs and external disturbance, and we propose a continuous projection adaptive controller to improve tracking efficiency and reduce control amplitude. Firstly, two filtered tracking errors are designed to obtain faster convergence for tracking errors. Then, the adaptive update law is designed with continuous projection regarding the TVPs, especially for non-linearly-parameterized systems. Subsequently, the controller is designed by constructing a continuous auxiliary term to realize trajectory tracking. System stability is rigorously analyzed by utilizing Lyapunov technique and LaSalle-Yoshizawa corollary extension, and theoretical analysis demonstrates that all signals of the closed-loop error system remain bounded and tracking errors converge to zero. Comparative tests are performed to evaluate the effectiveness of the proposed strategy.</p>

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Adaptive control of Euler-Lagrange system under time-varying parameters and external disturbance for efficient trajectory tracking

  • 期刊论文

  • 发表日期：

    2025年3月22日

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  • Can Liu,
  • Baoquan Li,
  • Fengzhi Dai,
  • Wuxi Shi

摘要

Research on adaptive control for time-varying parameters (TVPs) in nonlinear systems has gained considerable interest. The trajectory tracking problem for nonlinear Euler-Lagrange (EL) systems is investigated in the paper under TVPs and external disturbance, and we propose a continuous projection adaptive controller to improve tracking efficiency and reduce control amplitude. Firstly, two filtered tracking errors are designed to obtain faster convergence for tracking errors. Then, the adaptive update law is designed with continuous projection regarding the TVPs, especially for non-linearly-parameterized systems. Subsequently, the controller is designed by constructing a continuous auxiliary term to realize trajectory tracking. System stability is rigorously analyzed by utilizing Lyapunov technique and LaSalle-Yoshizawa corollary extension, and theoretical analysis demonstrates that all signals of the closed-loop error system remain bounded and tracking errors converge to zero. Comparative tests are performed to evaluate the effectiveness of the proposed strategy.