Observer-less output-feedback global continuous control for the finite-time and exponential stabilization of mechanical systems with constrained inputs. (July 2017)

• Record Type: Journal Article
• Authors: Zamora-Gómez, Griselda I.; Zavala-Río, Arturo; López-Araujo, Daniela J.
• Is Part Of: European journal of control. Volume 36(2017:Jul.)
• Page Start: 30
• Page End: 42
• Publication Date: 2017-07
• Subjects: Finite-time stabilization -- Local homogeneity -- Output feedback -- Mechanical systems -- Constrained inputs -- Saturation; Control theory -- Periodicals; Automatic control -- Periodicals; Automatic control -- Mathematics -- Periodicals; Electronic journals; 629.805
• DOI: 10.1016/j.ejcon.2017.04.003
• Languages: English
• ISSNs: 0947-3580

Abstract

Abstract: An observer-less output-feedback global continuous control scheme for the finite-time or (local) exponential stabilization of mechanical systems with constrained inputs is proposed. The approach is formally developed within the theoretical framework of local homogeneity. The closed-loop analysis incorporates a complementary insight on the control-induced motion dissipation through an ad hoc feedback-system passivity theorem. The work includes a simulation implementation section where the performance difference of the proposed scheme with previous observer-based and differentiation algorithms is brought to the fore.