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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

dc.contributor.authorZamora Gómez, Griselda Ivone
dc.contributor.authorZavala Río, Arturo
dc.contributor.authorLópez Araujo, Daniela Juanita
dc.contributor.authorNuño, Emmanuel
dc.contributor.authorCruz Zavala, Emmanuel
dc.contributor.editorTaylor & Francis
dc.date.accessioned2018-11-15T18:58:25Z
dc.date.available2018-11-15T18:58:25Z
dc.date.issued2018
dc.identifier.citationGriselda I. Zamora-Gómez, Arturo Zavala-Río, Daniela J. López-Araujo, Emmanuel Nuño & Emmanuel Cruz-Zavala (2018) 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, International Journal of Control, DOI: 10.1080/00207179.2018.1514533
dc.identifier.urihttp://hdl.handle.net/11627/4717
dc.description.abstract"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 in the feedback, and further simplified through desired conservative-force compensation. The proposed output-feedback controller is not a simple extension of the on-linecompensation case but it rather proves to entail a closed-loop analysis with considerably higher degree of complexity that gives rise to more involved requirements. Interestingly, 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 multi-degree-of-freedom robot corroborate the efficiency of the proposed approach."
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subjectOutput feedback
dc.subjectFinite-time stabilisation
dc.subjectMechanical systems
dc.subjectDesired conservative-force compensation
dc.subjectBounded inputs
dc.subject.classificationMATEMÁTICAS
dc.titleFurther 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
dc.typearticle
dc.identifier.doihttps://doi.org/10.1080/00207179.2018.1514533
dc.rights.accessAcceso Abierto


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Attribution-NonCommercial-NoDerivatives 4.0 Internacional
Except where otherwise noted, this item's license is described as Attribution-NonCommercial-NoDerivatives 4.0 Internacional