Título
Further results on the global continuous control for finite-time and exponential stabilization of constrained-input mechanical systems: desired conservative-force compensation and experiments
Autor
Griselda Ivone Zamora Gómez
Arturo Zavala Río
DANIELA JUANITA LOPEZ ARAUJO
Victor Santibanez
Nivel de Acceso
En Embargo
Identificador alterno
doi: http://dx.doi.org/10.1049/iet-cta.2018.5099
Materias
Resumen o descripción
"Saturating-Proportional-Derivative (SPD) type global continuous control for the finite-time or (local) exponential stabilization of mechanical systems with bounded inputs is achieved involving desired conservative-force compensation. Far from what one could expect, the proposed controller is not a simple extension of the on-line compensation case but it rather proves to entail a closed-loop analysis with considerably higher degree of complexity. This gives rise to more involved requirements to guarantee its successful performance and implementability. Interesting enough, the proposal even shows that actuators with higher power-supply capabilities than in the on-line compensation case are required. Other important analytical limitations are further overcome through the developed algorithm. Experimental tests on a 2-degree-of-freedom robotic arm corroborate the efficiency of the proposed scheme."
Editor
IET
Fecha de publicación
2019
Tipo de publicación
Artículo
Versión de la publicación
Versión aceptada
Recurso de información
Formato
application/pdf
Relación
&
Applications, vol. 13, no. 2, pp. 159-170, 29 1 2019. doi: 10.1049/iet-cta.2018.5099
Sugerencia de citación
G. I. Zamora-Gómez, A. Zavala-Río, D. J. López-Araujo and V. Santibánez, "Further results on the global continuous control for finite-time and exponential stabilisation of constrained-input mechanical systems: desired conservative-force compensation and experiments," in IET Control Theory
Repositorio Orígen
Repositorio IPICYT
Descargas
0