Título

Further advancements on the output-feedback global continuous control for the finite-time and exponential stabilisation of bounded-input mechanical systems: desired conservative-force compensation and experiments

Autor

Griselda Ivone Zamora Gómez

Arturo Zavala Río

DANIELA JUANITA LOPEZ ARAUJO

Emmanuel Nuno

EMMANUEL CRUZ ZAVALA

Nivel de Acceso

En Embargo

Identificador alterno

doi: https://doi.org/10.1080/00207179.2018.1514533

Resumen o descripción

"Global Saturating-Proportional Saturating-Derivative (SP-SD) type continuous control for the finite-time or (local) exponential stabilisation of mechanical systems with bounded inputs is achieved avoiding velocity variables in the feedback, and further simplified through desired conservative-force compensation. The proposed output-feedback controller is not a simple extension of the on-linecompensation case but it rather proves to entail a closed-loop analysis with considerably higher degree of complexity that gives rise to more involved requirements. Interestingly, 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 multi-degree-of-freedom robot corroborate the efficiency of the proposed approach."

Editor

Taylor

&

Francis

Fecha de publicación

2018

Tipo de publicación

Artículo

Versión de la publicación

Versión aceptada

Formato

application/pdf

Relación

&

Emmanuel Cruz-Zavala (2018) Further advancements on the output-feedback global continuous control for the finite-time and exponential stabilisation of bounded-input mechanical systems: desired conservative-force compensation and experiments, International Journal of Control, DOI: 10.1080/00207179.2018.1514533

Sugerencia de citación

Griselda I. Zamora-Gómez, Arturo Zavala-Río, Daniela J. López-Araujo, Emmanuel Nuño

Repositorio Orígen

Repositorio IPICYT

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