Artificial-Delay Adaptive Control for Underactuated Euler-Lagrange Robotics

Artificial-delay control is a method in which state and input measurements collected at an immediate past time instant (i.e., artificially delayed) are used to compensate the uncertain dynamics affecting the system at the current time. This article formulates an artificial-delay control method with adaptive gains in the presence of nonlinear (Euler-Lagrange) underactuation. The appeal of studying Euler-Lagrange dynamics is to capture many robotics applications of practical interest, as demonstrated via stability and robustness analysis and via robotic ship and robotic aerial vehicle test cases.

Automated summary

The article presents an artificial-delay control method with adaptive gains for dealing with nonlinear underactuated systems, focusing on Euler-Lagrange dynamics. The method is shown to be useful for robotics applications, demonstrated through stability and robustness analysis as well as tests on robotic ships and aerial vehicles.