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Local-homogeneity-based global continuous control for mechanical systems with constrained inputs: finite-time and exponential stabilisation

dc.contributor.authorZavala Río, Arturo
dc.contributor.authorZamora Gómez, Griselda Ivone
dc.contributor.editorTaylor & Francis
dc.date.accessioned2018-11-15T18:58:26Z
dc.date.available2018-11-15T18:58:26Z
dc.date.issued2016
dc.identifier.citationArturo Zavala-Río & Griselda I. Zamora-Gómez (2017) Local-homogeneity-based global continuous control for mechanical systems with constrained inputs: finite-time and exponential stabilisation, International Journal of Control, 90:5, 1037-1051, DOI: 10.1080/00207179.2016.1198494
dc.identifier.urihttp://hdl.handle.net/11627/4719
dc.description.abstract"A global continuous control scheme for the finite-time or (local) exponential stabilisation of mechanical systems with constrained inputs is proposed. The approach is formally developed within the theoretical framework of local homogeneity. This has permitted to solve the formulated problem not only guaranteeing input saturation avoidance but also giving a wide range of design flexibility. The proposed scheme is characterised by a saturating-proportional-derivative type term with generalised saturating and locally homogeneous structure that permits multiple design choices on both aspects. The work includes a simulation implementation section where the veracity of the so-cited argument claiming that finite-time stabilisers are faster than asymptotical ones is studied. In particular, a way to carry out the design so as to, indeed, guarantee faster stabilisation through finite-time controllers (beyond their finite-time convergence) is shown."
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subjectFinite-time stabilisation
dc.subjectLocal homogeneity
dc.subjectMechanical systems
dc.subjectConstrained inputs
dc.subjectSaturation
dc.subject.classificationMATEMÁTICAS
dc.titleLocal-homogeneity-based global continuous control for mechanical systems with constrained inputs: finite-time and exponential stabilisation
dc.typearticle
dc.identifier.doihttps://doi.org/10.1080/00207179.2016.1198494
dc.rights.accessAcceso Abierto


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Attribution-NonCommercial-NoDerivatives 4.0 Internacional
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