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Adaptive control of robot manipulators with bounded inputs.
(2013)
"La tesis se enfoca en el diseño de leyes de control adaptables para robots manipuladores que consideran la naturaleza acotada de los actuadores. Se proponen esquemas generalizados para regulaci on y seguimiento globales ...
Global stabilization of the PVTOL aircraft with lateral coupling and bounded inputs.
(2008)
"Esta tesis se enfoca en la estabilización global de un avión planar de despegue y aterrizaje verticales (PVTOL, por sus siglas en inglés). Este sistema tiene una dinámica compleja que hace difícil el diseño de controladores ...
Output-feedback adaptive SP-SD-Type control with an extended continuous adaptation algorithm for the global regulation of robot manipulators with bounded inputs
(2013-01)
"In this work, an output-feedback adaptive SP-SD-type control scheme for the global position stabilization of robot manipulators with bounded inputs is proposed. Compared with the output-feedback adaptive approaches ...
Global stabilisation of the PVTOL aircraft with lateral force coupling and bounded inputs
(Taylor & Francis LTD, 2010-06)
"This work is devoted to prove that the nonlinear control scheme previously proposed by Zavala-Río, Fantoni and Lozano for the global stabilisation of the planar vertical take-off and landing (PVTOL) aircraft with bounded ...
Observer-less output-feedback global continuous control for the finite-time and exponential stabilization of mechanical systems with constrained inputs
(2017)
"An observer-less output-feedback global continuous control scheme for the finite-time or (local) exponential stabilization of mechanical systems with constrained inputs is proposed. The approach is formally developed ...
Output-feedback global continuous finite-time and exponential stabilization of bounded-input mechanical systems
(2017)
"This work proposes an output-feedback global continuous controller for the finite-time or (local) exponential stabilization of bounded-input mechanical systems. The control design is carried out within the analytical ...
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
(2018)
"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 ...
Output-feedback adaptive control for the global regulation of robot manipulators with bounded inputs
(2013)
"In this paper, an output-feedback adaptive scheme for the global position stabilization of robot manipulators with bounded inputs is proposed. Compared to the previous output-feedback adaptive approaches developed in a ...
Adaptive tracking control of Euler-Lagrange systems with bounded controls
(2016)
"We solve the simultaneous closed?loop identification and tracking?control problems for fully actuated Euler-Lagrange systems under input constraints. We use a nonlinear adaptive controller reminiscent of computed?torque?type ...
A generalized scheme for the global adaptive regulation of robot manipulators with bounded inputs
(2013)
"In this work, a generalized adaptive control scheme for the global position stabilization of robot manipulators with bounded inputs is proposed. It gives rise to various families of bounded controllers with adaptive gravity ...