Abstract
In this article, a nonlinear estimator-based funnel perturbation rejection control method is investigated to manage the trajectory tracking problem of a class of perturbed Euler-Lagrange (EL) systems. To reinforce the perturbation rejection ability, perturbation estimators with nonlinear dynamics are established by employing a filtering operation, which can result in asymptotic convergence of estimation errors. Besides, by devising funnel variables with an exponential decaying function, a funnel control strategy is constructed to ensure tracking errors restricting into a prescribed region under the influence of persistent perturbations. Moreover, the tracking errors of the Euler-Lagrange system are concluded to be asymptotic stability with prescribed performance via Lyapunov stability theory. Finally, simulations validate the effectiveness of the developed control technology.
•The asymptotic trajectory tracking and perturbation rejection problems of Euler Lagrange systems are addressed.•A novel nonlinear dynamics estimator is investigated to estimate the perturbations with higher estimation accuracy.•The system performances of convergence time, overshoot, and steady precision are governed by funnel control designs.•The superiority of the proposed control strategies is substantiated by simulation results of a quadrotor aircraft system.
