Por favor, use este identificador para citar o enlazar este ítem:
http://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/2106| An output-feedback global continuous control scheme with desired gravity compensation for the finite-time and exponential regulation of bounded-input robotic systems | |
| Griselda Ivone Zamora Gómez Arturo Zavala Río DANIELA JUANITA LOPEZ ARAUJO Emmanuel Nuno EMMANUEL CRUZ ZAVALA | |
| Acceso Abierto | |
| Atribución-NoComercial-SinDerivadas | |
| https://doi.org/10.1016/j.ifacol.2018.11.526 | |
| Robotic systems Output feedback Finite-time stability Bounded inputs | |
| "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." | |
| International Federation of Automatic Control | |
| 2018 | |
| Artículo | |
| Griselda I. Zamora-Gómez, Arturo Zavala-Río, Daniela J. López-Araujo, Emmanuel Nuño, Emmanuel Cruz-Zavala, An output-feedback global continuous control scheme with desired gravity compensation for the finite-time and exponential regulation of bounded-input robotic systems, IFAC-PapersOnLine, Volume 51, Issue 22, 2018, Pages 108-114. | |
| MATEMÁTICAS | |
| Versión publicada | |
| publishedVersion - Versión publicada | |
| Aparece en las colecciones: | Publicaciones Científicas Control y Sistemas Dinámicos |
Cargar archivos:
| Fichero | Tamaño | Formato | |
|---|---|---|---|
| IFACProceedings51(2018)108.pdf | 686.99 kB | Adobe PDF | Visualizar/Abrir |