Cooperative Game Oriented Optimal Design in Controlling Uncertain Underactuated Mechanical Systems
- Resource Type
- Conference
- Authors
- Wei, Cui; Chen, Ye-Hwa; Fu, Jun; Zhang, Kun
- Source
- 2022 IEEE 17th International Conference on Control & Automation (ICCA) Control & Automation (ICCA), 2022 IEEE 17th International Conference on. :740-745 Jun, 2022
- Subject
- Computing and Processing
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Robust control
Uncertainty
Automation
Adaptive systems
Optimal control
Games
Cost function
- Language
- ISSN
- 1948-3457
This paper examines the adaptive robust control for uncertain underactuated mechanical systems. The uncertainty is time varying but bounded. An adaptive robust constraint-following control approach is developed with tunable parameters. For the seeking of optimal control parameters, a two-player cooperative game oriented optimal design problem is formulated. The problem is completely solved with the existence and uniqueness of the optimal solution proved and the analytical expression of the optimal parameters provided. Using the optimal parameters, the proposed adaptive robust control renders dual performance: guaranteed (uniform boundedness and uniform ultimate boundedness) and optimal.