A new optimal control approach to uncertain Euler-Lagrange equations: $ H_\infty $ disturbance estimator and generalized $ H_2 $ tracking controller

A new optimal control approach to uncertain Euler-Lagrange equations: $ H_\infty $ disturbance estimator and generalized $ H_2 $ tracking controller

This paper proposed a new optimal control method for uncertain Euler-Lagrange systems, focusing on estimating model uncertainties and improving tracking performance. More precisely, a linearization of the nonlinear equation was achieved through the inverse dynamic control (IDC) and an $ H_\infty $ o...

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Bibliographic Details
Main Authors: Taewan Kim, Jung Hoon Kim
Format: Article
Language:English
Published: AIMS Press 2024-12-01
Series:AIMS Mathematics
Subjects:
euler-lagrange equations
inverse dynamic control
$ h_\infty $ optimal estimator
generalized $ h_2 $ optimal controller
linear matrix inequalities
Online Access:https://www.aimspress.com/article/doi/10.3934/math.20241642
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https://www.aimspress.com/article/doi/10.3934/math.20241642

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