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http://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/1745| 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 | |
| Griselda Ivone Zamora Gómez Arturo Zavala Río DANIELA JUANITA LOPEZ ARAUJO Emmanuel Nuno EMMANUEL CRUZ ZAVALA | |
| En Embargo | |
| 31-12-2019 | |
| Atribución-NoComercial-SinDerivadas | |
| https://doi.org/10.1080/00207179.2018.1514533 | |
| Output feedback Finite-time stabilisation Mechanical systems Desired conservative-force compensation Bounded inputs | |
| "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." | |
| Taylor & Francis | |
| 2018 | |
| Artículo | |
| Griselda I. Zamora-Gómez, Arturo Zavala-Río, Daniela J. López-Araujo, Emmanuel Nuño & 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 | |
| MATEMÁTICAS | |
| Versión aceptada | |
| acceptedVersion - Versión aceptada | |
| Aparece en las colecciones: | Publicaciones Científicas Control y Sistemas Dinámicos |