### Trajectory Tracking Control of Euler-Lagrange Systems with ISS-Like Robustness to Actuator Noises

WU Haiwen1, XU Dabo2

1. 1. School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China;
Engineering and Technology Institute Groningen, Faculty of Science and Engineering, University of Groningen, Groningen 9747 AG, The Netherlands;
2. Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou 511442, China
• Received:2020-09-13 Revised:2021-06-02 Online:2022-10-25 Published:2022-10-12
• Supported by:
This paper was supported in part by the National Natural Science Foundation of China under Grant Nos.61673216 and 62073168;The work of Wu was supported by the China Scholarship Council on his study at the University of Groningen,The Netherlands;The work of Xu was partially done when he was with the School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China.

WU Haiwen, XU Dabo. Trajectory Tracking Control of Euler-Lagrange Systems with ISS-Like Robustness to Actuator Noises[J]. Journal of Systems Science and Complexity, 2022, 35(5): 1719-1747.

This paper studies global robust tracking of uncertain Euler-Lagrange systems with input disturbances.The authors develop a robust regulation-based approach for the problem.Specifically,by introducing a novel nonlinear internal model,the authors solve global asymptotic trajectory tracking with disturbance rejection of multiple step/sinusoidal signals with unknown amplitudes,frequencies,and phases.Moreover,the authors show that a robustness property to actuator noises can be guaranteed in a sense of strong integral input-to-state stability (iISS).That is,the closed-loop system is not only iISS but also input-to-state stable (ISS) to small magnitude actuator noises.Furthermore,the authors explore a by-product overparametrized linear regression estimation,coming up with robust estimation of the unknown parameters.Finally,the authors present several numerical examples to illustrate the theoretical results.
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