Tracking control of uncertain Euler–Lagrange systems with fading and saturating actuations : A low-cost neuroadaptive proportional-integral-derivative approach

Many important engineering systems can be classified as Euler–Lagrange (EL) systems. In this work we develop a new Proportional-Integral-Derivative (PID) -based tracking control solution for uncertain EL systems subject to actuation failures and saturation. Two set of control algorithms are developed using robust adaptive and neuroadaptive methods, which are shown to exhibit several salient features: (1) the control schemes are of PID form, hence is characterized with simplicity in structure and intuition in concept; (2) the PID gains in the scheme are automatically updated by analytic algorithms with no need for manual tuning, rendering the control scheme more user-friendly; and (3) the developed control algorithms are robust against nonvanishing disturbances, adaptive to unknown virtual parameter and immune to partial actuation effectiveness faults.