Adaptive State-Feedback Shared Control for Constrained Uncertain Mechanical Systems

This work develops two kinds of adaptive state feedback shared-control algorithms for a class of nonlinear mechanical systems in the presence of output constraints described by a set of linear inequalities. The parametric uncertainties and unknown external disturbances in the dynamical model are compensated by the proposed adaptive control laws for the feedback controller. In particular, an adaptive fixed-time state-feedback control law is also developed after the classical robust adaptive state-feedback control law design. The properties of the closed-loop shared-control systems are studied by using Lyapunov method. Simulation results demonstrate the effectiveness of the proposed approach.