An Adaptive Control Framework for Underactuated Switched Euler-Lagrange Systems

The control of underactuated Euler-Lagrange systems with uncertain and switched parameters is an important problem whose solution has many applications. The problem is challenging as standard adaptive control techniques do not extend to this class of systems due to structural constraints that lead to parameterization difficulties. This note proposes an adaptive switched control framework that handles the uncertainty and switched dynamics without imposing structural constraints. A case study inspired by autonomous vessel operations is used to show the effectiveness of the proposed approach.

Automated summary

This paper proposes an adaptive switched control framework to tackle the control problem of underactuated Euler-Lagrange systems with uncertain and switched parameters, without imposing structural constraints. A case study inspired by autonomous vessel operations is used to demonstrate the effectiveness of the proposed approach.