Further results on the global continuous control for finite-time and exponential stabilization of constrained-input mechanical systems: desired conservative-force compensation and experiments
"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 n...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión aceptada para publicación |
| Fecha de publicación: | 2019 |
| País: | México |
| Institución: | Instituto Potosino de Investigación Científica y Tecnológica |
| Repositorio: | Repositorio Institucional del IPICYT |
| OAI Identifier: | oai:ipicyt.repositorioinstitucional.mx:1010/1734 |
| Acceso en línea: | http://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/1734 |
| Access Level: | acceso embargado |
| Palabra clave: | info:eu-repo/classification/Autor/Actuators info:eu-repo/classification/Autor/Asymptotic stability info:eu-repo/classification/Autor/Closed loop systems info:eu-repo/classification/Autor/Compensation info:eu-repo/classification/Autor/Continuous systems info:eu-repo/classification/Autor/Control system synthesis info:eu-repo/classification/Autor/PD control info:eu-repo/classification/cti/1 info:eu-repo/classification/cti/12 |
| Sumario: | "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." |
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