Browsing Publicaciones Científicas Control y Sistemas Dinámicos by Subject "Bounded inputs"
Now showing items 1-18 of 18
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A generalised PID-type control scheme with simple tuning for the global regulation of robot manipulators with constrained inputs
(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 design methodology for the output feedback regulation of a special type of systems with bounded inputs
(2013)"In this work, a generalized design scheme for the output feedback regulation of a special type of systems with bounded inputs is proposed. It gives rise to a simple dynamic controller that guarantees the regulation objective ... -
A generalized global adaptive tracking control scheme for robot manipulators with bounded inputs
(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
(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
(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
(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 ... -
Adaptive tracking control of Euler-Lagrange systems with bounded controls
(2016)"We solve the simultaneous closed?loop identification and tracking?control problems for fully actuated Euler-Lagrange systems under input constraints. We use a nonlinear adaptive controller reminiscent of computed?torque?type ... -
An output-feedback global continuous control scheme with desired gravity compensation for the finite-time and exponential regulation of bounded-input robotic systems
(International Federation of Automatic Control, 2018)"A Saturating-Proportional Saturating-Derivative type global continuous control scheme with desired gravity compensation for the finite-time or (local) exponential stabilization of robotic systems with constrained inputs, ... -
Finite-time observer-based output-feedback control for the global stabilisation of the PVTOL aircraft with bounded inputs
(Taylor & Francis LTD, 2016-05)"In this work, an output-feedback scheme for the global stabilisation of the planar vertical take-off and landing aircraft with bounded inputs is developed taking into account the positive nature of the thrust. The global ... -
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
(2018)"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 ... -
Global finite-time stability characterized through a local notion of homogeneity
(IEEE, 2014-02)"In this work, a notion of local homogeneity is formally defined. Important results involving homogeneous functions or vector fields are reformulated in the consequent local context. In particular, global finite-time ... -
Global finite-time stability characterized through a local notion of homogeneity
(2014)"In this work, a notion of local homogeneity is formally defined. Important results involving homogeneous functions or vector fields are reformulated in the consequent local context. In particular, global finite-time ... -
Global stabilisation of the PVTOL aircraft with lateral force coupling and bounded inputs
(Taylor & Francis LTD, 2010-06)"This work is devoted to prove that the nonlinear control scheme previously proposed by Zavala-Río, Fantoni and Lozano for the global stabilisation of the planar vertical take-off and landing (PVTOL) aircraft with bounded ... -
Global trajectory tracking through output feedback for robot manipulators with bounded inputs
(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
(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 ... -
Output-feedback adaptive control for the global regulation of robot manipulators with bounded inputs
(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 proportional-integral-derivative-type control with multiple saturating structure for the global stabilization of robot manipulators with bounded inputs
(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 ... -
Robust global stabilizing bounded control of a PVTOL aircraft with lateral coupling
(International Federation of Automatic Control, 2005)"This note provides a detailed stability analysis of a global stabilizing control algorithm for a PVTOL aircraft with lateral coupling (è ≠ 0) and bounded inputs. Such control approach was originally proposed considering ...