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
"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-f...
| 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:1010/1745 |
| Acceso en línea: | http://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/1745 |
| Access Level: | acceso embargado |
| Palabra clave: | info:eu-repo/classification/Autor/Output feedback info:eu-repo/classification/Autor/Finite-time stabilisation 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 |
| Sumario: | "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." |
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