Open AccessFurther results on the global continuous control for finite‐time and exponential stabilisation of constrained‐input mechanical systems: desired conservative‐force compensation and experiments
Author(s) -
ZamoraGómez Griselda Ivone,
ZavalaRío Arturo,
LópezAraujo Daniela Juanita,
Santibánez Víctor
Publication year - 2019
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2018.5099
Subject(s) - control theory (sociology) , compensation (psychology) , controller (irrigation) , actuator , exponential function , bounded function , exponential stability , computer science , stability (learning theory) , mechanical system , control engineering , control (management) , engineering , mathematics , nonlinear system , physics , psychology , mathematical analysis , artificial intelligence , psychoanalysis , quantum mechanics , machine learning , agronomy , biology
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.