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. Issue 7 (2nd July 2020)

• Record Type: Journal Article
• Authors: Zamora-Gómez, Griselda I.; Zavala-Río, Arturo; López-Araujo, Daniela J.; Nuño, Emmanuel; Cruz-Zavala, Emmanuel
• Is Part Of: International journal of control. Volume 93:Issue 7(2020)
• Page Start: 1521
• Page End: 1533
• Publication Date: 2020-07-02
• Subjects: Output feedback -- finite-time stabilisation -- mechanical systems -- desired conservative-force compensation -- bounded inputs; Automatic control -- Periodicals; Electronic journals; 629.8
• DOI: 10.1080/00207179.2018.1514533
• Languages: English
• ISSNs: 0020-7179

Abstract

ABSTRACT: 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 in the feedback, and further simplified through desired conservative-force compensation. The proposed output-feedback controller is not a simple extension of the on-line compensation case but it rather proves to entail a closed-loop analysis with considerably higher degree of complexity that gives rise to more involved requirements. Interestingly, the proposal even shows that actuators with higher power-supply capabilities than in the on-line compensation case are required. Other important analytical limitations are further overcome through the developed algorithm. Experimental tests on a multi-degree-of-freedom robot corroborate the efficiency of the proposed approach.