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Output-feedback global continuous finite-time and exponential stabilization of bounded-input mechanical systems

dc.contributor.authorZamora Gómez, Griselda Ivone
dc.contributor.authorZavala Río, Arturo
dc.contributor.authorLópez Araujo, Daniela Juanita
dc.contributor.editorIEEE
dc.date.accessioned2018-11-15T18:58:13Z
dc.date.available2018-11-15T18:58:13Z
dc.date.issued2017
dc.identifier.citationG. I. Zamora-Gómez, A. Zavala-Río and D. J. López-Araujo, "Output-feedback global continuous finite-time and exponential stabilization of bounded-input mechanical systems," 2017 IEEE 56th Annual Conference on Decision and Control (CDC), Melbourne, VIC, 2017, pp. 4958-4963. doi: 10.1109/CDC.2017.8264393
dc.identifier.urihttp://hdl.handle.net/11627/4699
dc.description.abstract"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 framework of local homogeneity. The proposed approach avoids velocity measurements on the feedback through the use of a dynamic dissipator expressed in a generalized non-linear form. The analytical results are supported through simulation tests. In particular, such implementations show the performance differences obtained through diverse particular dynamic dissipator structures, as well as the contrast among the finite-time and exponential convergence achievable through the proposed scheme."
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subjectMechanical systems
dc.subjectConvergence
dc.subjectSystem dynamics
dc.subjectForce
dc.subjectVelocity measurement
dc.subjectObservers
dc.subjectManipulators
dc.subject.classificationMATEMÁTICAS
dc.titleOutput-feedback global continuous finite-time and exponential stabilization of bounded-input mechanical systems
dc.typearticle
dc.identifier.doihttps://doi.org/10.1109/CDC.2017.8264393
dc.rights.accessAcceso Abierto


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Attribution-NonCommercial-NoDerivatives 4.0 Internacional
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