Further results on the global continuous control for finite-time and exponential stabilization of constrained-input mechanical systems: desired conservative-force compensation and experiments

Abstract

"Saturating-Proportional-Derivative (SPD) type global continuous control for the finite-time or (local) exponential stabilization of mechanical systems with bounded inputs is achieved involving desired conservative-force compensation. Far from what one could expect, the proposed controller is not a simple extension of the on-line compensation case but it rather proves to entail a closed-loop analysis with considerably higher degree of complexity. This gives rise to more involved requirements to guarantee its successful performance and implementability. Interesting enough, 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 2-degree-of-freedom robotic arm corroborate the efficiency of the proposed scheme."