An output-feedback global continuous control scheme with desired gravity compensation for the finite-time and exponential regulation of bounded-input robotic systems. Issue 22 (2018)

• Record Type: Journal Article
• Authors: Zamora-Gómez, Griselda I.; Zavala-Río, Arturo; López-Araujo, Daniela J.; Nuño, Emmanuel; Cruz-Zavala, Emmanuel
• Is Part Of: IFAC-PapersOnLine. Volume 51:Issue 22(2018)
• Page Start: 108
• Page End: 114
• Publication Date: 2018
• Subjects: Robotic systems -- output feedback -- finite-time stability -- bounded inputs; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2018.11.526
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: 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, avoiding velocity variables in the feedback, is presented. The proposed output-feedback controller proves to need a closed-loop analysis with considerably higher degree of complexity, and entail more involved consequent requirements, than in the on-line compensation case. Other analytical limitations are further overcome through the developed algorithm. Simulation tests corroborate the efficiency of the proposed approach.