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- Title
Further results on the global continuous control for finite‐time and exponential stabilisation of constrained‐input mechanical systems: desired conservative‐force compensation and experiments.
- Authors
Zamora‐Gómez, Griselda Ivone; Zavala‐Río, Arturo; López‐Araujo, Daniela Juanita; Santibánez, Víctor
- Abstract
Saturating‐proportional‐derivative‐type global continuous control for the finite‐time or (local) exponential stabilisation of mechanical systems with bounded inputs is achieved involving the desired conservative‐force compensation. Far from what one could expect, the proposed controller is not a simple extension of the on‐line compensation case but it rather proves to entail a closed‐loop analysis with a considerably higher degree of complexity. This gives rise to more involved requirements to guarantee its successful performance and implementability. Interesting enough, 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 two‐degree‐of‐freedom robotic arm corroborate the efficiency of the proposed scheme.
- Publication
IET Control Theory & Applications (Wiley-Blackwell), 2019, Vol 13, Issue 2, p159
- ISSN
1751-8644
- Publication type
Article
- DOI
10.1049/iet-cta.2018.5099