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
Materias
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
Recurso de información
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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