RISE-based adaptive tracking control for Euler–Lagrange mechanical systems with matched disturbances.

The core idea of traditional adaptive control is to reconstruct parameter estimation errors with known signals and damping injection based on tracking error, while the formulation of desired damping in controller designs is usually a nontrivial task. The main contribution of this paper lies in the development of the classic RISE result and a constructive damping injection procedure for the adaptive tracking control of Euler–Lagrange mechanical systems. By utilizing generalized dynamic scaling function, scalar filtering, the improved RISE method and analyzing the existence of finite escape time of the closed-loop system, a globally asymptotically stable result is obtained with facilitative damping injection, significant order reduction and improved design efficiency when compared with the existing results. Simulations on a fully actuated 2-DOF planar robot manipulator model demonstrate the effectiveness of the proposed methods. • Order reduction. The extended dynamic orders of the proposed adaptive controller is less than composite adaptive RISE controller. • Performance improvement. The proposed controller achieves the global asymptotic stability with the non-CE-alike adaptive estimation performance. • Design simplification. There are many control parameters in the controller that can be adjusted to obtain the desired performance, and the computational difficulties are avoided such as analytical solution of PDE in I&I. [ABSTRACT FROM AUTHOR]