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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 ...
Continuous Control for Fully Damped Mechanical Systems With Input Constraints: Finite-Time and Exponential Tracking
(IEEE, 2020)
"A motion continuous control scheme for fully damped mechanical systems with constrained inputs is proposed. It gives the freedom to choose among finite-time and (local) exponential convergence through a simple design ...