Quantization-Mitigation-Based Trajectory Control for Euler-Lagrange Systems with Unknown Actuator Dynamics

摘要

In this paper, we investigate a trajectory control problem for Euler-Lagrange systems with unknown quantization on the actuator channel. To address such a challenge, we proposed a quantization-mitigation-based trajectory control method, wherein adaptive control is employed to handle the time-varying input coefficients. We allow the quantized signal to pass through unknown actuator dynamics, which results in the coupled actuator dynamics for Euler-Lagrange systems. It is seen that our method is capable of driving the states of networked Euler-Lagrange systems to the desired ones via Lyapunov’s direct method. In addition, the effectiveness and advantage of our method are validated with a comparison to the existing controller.