Configuring tasks as constraints for coordinated mechanical systems: A Udwadia–Kalaba theory based adaptive robust control

In this paper, we deal with the control problem of coordinated mechanical systems by configuring the control tasks as servo constraints. For the nominal systems, a Udwadia–Kalaba control scheme is implemented. In the presence of system uncertainties and initial condition deviations from the servo constraints, an adaptive robust control scheme is designed and proved to be able to guarantee the deterministic performance: uniform boundedness and...