A global continuous control scheme with desired conservative-force compensation for the finite-time and exponential regulation of bounded-input mechanical systems
"Global continuous control for the finite-time or (local) exponential stabilization of mechanical systems with bounded inputs is achieved involving desired conservative-force compensation. With respect to the on-line compensation case, the proposed controller entails a closed-loop analysis with...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión aceptada para publicación |
| Fecha de publicación: | 2018 |
| País: | México |
| Institución: | Instituto Potosino de Investigación Científica y Tecnológica |
| Repositorio: | Repositorio Institucional del IPICYT |
| OAI Identifier: | oai:ipicyt.repositorioinstitucional.mx:1010/2122 |
| Acceso en línea: | http://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/2122 |
| Access Level: | acceso embargado |
| Palabra clave: | info:eu-repo/classification/Autor/Finite-time stabilization info:eu-repo/classification/Autor/Mechanical systems info:eu-repo/classification/Autor/Desired conservative-force compensation info:eu-repo/classification/Autor/Bounded inputs info:eu-repo/classification/cti/1 info:eu-repo/classification/cti/12 info:eu-repo/classification/cti/1207 info:eu-repo/classification/cti/120702 |
| Sumario: | "Global continuous control for the finite-time or (local) exponential stabilization of mechanical systems with bounded inputs is achieved involving desired conservative-force compensation. With respect to the on-line compensation case, the proposed controller entails a closed-loop analysis with considerably higher degree of complexity, whence more involved requirements prove to arise. Other important analytical limitations are further overcome through the developed algorithm. Numerical simulations considering a robotic arm model corroborate the efficiency of the proposed scheme." |
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