An output-feedback global continuous control scheme with desired gravity compensation for the finite-time and exponential regulation of bounded-input robotic systems
"A Saturating-Proportional Saturating-Derivative type global continuous control scheme with desired gravity compensation for the finite-time or (local) exponential stabilization of robotic systems with constrained inputs, avoiding velocity variables in the feedback, is presented. The proposed o...
| Autores: | , , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| 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:1010/2106 |
| Acceso en línea: | http://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/2106 |
| Access Level: | acceso abierto |
| Palabra clave: | info:eu-repo/classification/Autor/Robotic systems info:eu-repo/classification/Autor/Output feedback info:eu-repo/classification/Autor/Finite-time stability info:eu-repo/classification/Autor/Bounded inputs info:eu-repo/classification/cti/1 info:eu-repo/classification/cti/12 |
| Sumario: | "A Saturating-Proportional Saturating-Derivative type global continuous control scheme with desired gravity compensation for the finite-time or (local) exponential stabilization of robotic systems with constrained inputs, avoiding velocity variables in the feedback, is presented. The proposed output-feedback controller proves to need a closed-loop analysis with considerably higher degree of complexity, and entail more involved consequent requirements, than in the on-line compensation case. Other analytical limitations are further overcome through the developed algorithm. Simulation tests corroborate the efficiency of the proposed approach." |
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