Browsing Publicaciones Científicas Control y Sistemas Dinámicos by Author "Santibáñez, Víctor"
Now showing items 1-13 of 13
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A generalised PID-type control scheme with simple tuning for the global regulation of robot manipulators with constrained inputs
Mendoza Gutiérrez, Marco Octavio; Zavala Río, Arturo; Santibáñez, Víctor; Reyes Cortés, José Fernando (2015)"In this paper, a globally stabilising PID-type control scheme with a generalised saturating structure for robot manipulators under input constraints is proposed. It gives rise to various families of bounded PID-type ... -
A generalized global adaptive tracking control scheme for robot manipulators with bounded inputs
López Araujo, Daniela Juanita; Zavala Río, Arturo; Santibáñez, Víctor; Reyes Cortés, José Fernando (2015)"In this work, a generalized adaptive scheme for the global motion control of robot manipulators with constrained inputs is proposed. It gives rise to various families of bounded adaptive controllers defined through a ... -
A generalized scheme for the global adaptive regulation of robot manipulators with bounded inputs
López Araujo, Daniela Juanita; Zavala Río, Arturo; Santibáñez, Víctor; Reyes Cortés, José Fernando (2013)"In this work, a generalized adaptive control scheme for the global position stabilization of robot manipulators with bounded inputs is proposed. It gives rise to various families of bounded controllers with adaptive gravity ... -
A global continuous control scheme with desired conservative-force compensation for the finite-time and exponential regulation of bounded-input mechanical systems
Zamora Gómez, Griselda Ivone; Zavala Río, Arturo; López Araujo, Daniela Juanita; Santibáñez, Víctor; 000 (IEEE, 2018)"Global continuous control for the finite-time or (local) exponential stabilization of mechanical systems with bounded inputs is achieved involving desired conservative-force compensation. With respect to the on-line ... -
A natural saturating extension of the PD-with-desired-gravity-compensation control law for robot manipulators with bounded inputs
Santibáñez, Víctor; Zavala Río, Arturo (2007)"This paper proposes a natural saturating extension of the proportional-derivative (PD) with desired gravity compensation (PDdgc) control law for the global regulation of robot manipulators with bounded inputs. Compared ... -
An Output-Feedback PID-type Global Regulator for Robot Manipulators with Bounded Inputs
Zavala Río, Arturo; Mendoza Gutiérrez, Marco Octavio; Santibáñez, Víctor; Reyes Cortés, José Fernando (International Federation of Automatic Control, 2015)"An output-feedback PID-type controller for the global stabilization of manipulators with bounded inputs is proposed. It guarantees the global regulation goal preventing input saturation while avoiding the exact knowledge ... -
Global trajectory tracking through output feedback for robot manipulators with bounded inputs
Zavala Río, Arturo; Aguiñaga Ruiz, Emeterio; Santibáñez, Víctor (2011)"In this work, a globally stabilizing output feedback scheme for the trajectory tracking of robot manipulators with bounded inputs is proposed. It achieves the motion control objective avoiding input saturation and excluding ... -
Global trajectory tracking through static feedback for robot manipulators with bounded inputs
Aguiñaga Ruiz, Emeterio; Zavala Río, Arturo; Santibáñez, Víctor; Reyes Cortés, José Fernando (2009)"In this work, two globally stabilizing bounded control schemes for the tracking control of robot manipulators with saturating inputs are proposed. They may be seen as extensions of the so-called PD+ algorithm to the bounded ... -
New achievements in control of robotic systems
Santibáñez, Víctor; Zavala Río, Arturo; García Carrillo, Luis Rodolfo; Moreno Valenzuela, Javier (Hindawi, 2015) -
Output-feedback adaptive control for the global regulation of robot manipulators with bounded inputs
López Araujo, Daniela Juanita; Zavala Río, Arturo; Santibáñez, Víctor; Reyes Cortés, José Fernando (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 ... -
Output-feedback adaptive SP-SD-Type control with an extended continuous adaptation algorithm for the global regulation of robot manipulators with bounded inputs
López Araujo, Daniela Juanita; Zavala Río, Arturo; Santibáñez, Víctor; Reyes Cortés, José Fernando (2013-01)"In this work, an output-feedback adaptive SP-SD-type control scheme for the global position stabilization of robot manipulators with bounded inputs is proposed. Compared with the output-feedback adaptive approaches ... -
Output-feedback proportional-integral- derivative-type control with simple tuning for the global regulation of robot manipulators with input constraints
Mendoza Gutiérrez, Marco Octavio; Zavala Río, Arturo; Santibáñez, Víctor; Reyes Cortés, José Fernando; 000 (The Institution of Engineering and Technology, 2015)"An output-feedback proportional-integral-derivative-type control scheme for the global position stabilisation of robot manipulators with bounded inputs is proposed. It guarantees the global regulation objective avoiding ... -
Output-feedback proportional-integral-derivative-type control with multiple saturating structure for the global stabilization of robot manipulators with bounded inputs
Zavala Río, Arturo; Mendoza Gutiérrez, Marco Octavio; Santibáñez, Víctor; Reyes Cortés, José Fernando (2016-09)"An output-feedback proportional integral derivative-type control scheme for the global regulation of robot manipulators with constrained inputs is proposed. It guarantees the global stabilization objective-avoiding input ...