Work

Sigma‐Delta Modulated Digital Control for Random Lagrange System Driven by DC Motors

Year: 2025

Type: article

Abstract: ABSTRACT In this paper, the digital control problem of trajectory tracking is investigated for a random Lagrange system. Firstly, for a general random differential equation, it is shown that the “equivalent output” signal of the sigma‐delta modulation can almost match the input signal generated by a continuous feedback controller. Then, considering the random Lagrange system driven by DC motors, a continuous bounded controller is systematically synthesized by the vectorial backstepping technique and random quadratic programming. On this basis, a digital controller is designed via sigma‐delta modulation, which enables the tracking error of the closed‐loop system can be as small as possible by adjusting the parameters. Finally, a simulation experiment of a 3‐link robotic arm is given.

Source: International Journal of Robust and Nonlinear Control

DOI: 10.1002/rnc.70323

Authors: Ruijie Yin, Zhaojing Wu, Likang Feng

Institutions: Yantai University, Qufu Normal University

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: bronze

Funders: National Natural Science Foundation of China, Natural Science Foundation of Shandong Province

Awards: G1223850324, G5203073689