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

Zamora-Gómez, Griselda I.; Zavala‐Río, Arturo; López-Araujo, Daniela Juanita

doi:10.1016/j.ejcon.2017.04.003

Cited by 13 publications

(18 citation statements)

References 28 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Remark 8. One corroborates from (12) the positive definiteness and radial unboundedness of S 0 (x; a, b∕k M ) (and consequently of ∑ n j=1 ∫…”

Section: Scalar Functions With Particular Properties Definitionsupporting

confidence: 57%

“…This has been so for every type of systems to which the works on finite-time continuous control have been addressed to. As for mechanical or Euler-Lagrange systems, solutions to various formulations of finite-time continuous control problems have been developed, addressing both regulation 1,[8][9][10][11][12][13][14][15] and tracking. 16 Among these works, some have been developed disregarding input constraints 1,8,9,11,13 and others under the consideration of constrained inputs.…”

Section: Introductionmentioning

confidence: 99%

“…16 Among these works, some have been developed disregarding input constraints 1,8,9,11,13 and others under the consideration of constrained inputs. 10,12,[14][15][16] Furthermore, among those devoted to regulation, some of them have developed state-feedback approaches 1,[8][9][10][11]14 and others have proposed output-feedback controllers. 12,13,15 But the problem of output-feedback finite-time tracking continuous control still needs attention to be paid to.…”

Section: Introductionmentioning

confidence: 99%

“…10,12,[14][15][16] Furthermore, among those devoted to regulation, some of them have developed state-feedback approaches 1,[8][9][10][11]14 and others have proposed output-feedback controllers. 12,13,15 But the problem of output-feedback finite-time tracking continuous control still needs attention to be paid to. In particular, controllers (with overall continuous structure) that solve such a problem under input constraints are still missing in the literature.…”

Section: Introductionmentioning

confidence: 99%

“…19 Such a simplicity, together with the coherence of such a (passivity-based) design perspective with the nature of the considered type of systems, has inspired proposals developed in the regulation case. 12,15 These have been further supported through (a particular notion of) homogeneity (more precisely, through local homogeneity 20 which has made it possible to deal with input constraints).…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Output‐feedback finite‐time and exponential tracking continuous control for mechanical systems with constrained inputs

Zavala‐Río

Zamora-Gómez

Sánchez

et al. 2021

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

An output-feedback finite-time/exponential tracking continuous control scheme for mechanical systems with constrained inputs is proposed. The developed controller has a velocity-free saturating-proportional saturating-derivative type structure, inducing damping through a dirty-derivative based auxiliary dynamics. Special well-defined functions that coat the error correction actions of the control scheme give the required shaping for the concerned type of convergence and input saturation avoidance. The type of convergence is determined through the choice on the values of specific control parameters. Differently to similar previous approaches for state-feedback tracking or output-feedback regulation, the control parameters that determine the trajectory convergence are not restricted to satisfy a fixed equivalence relation but rather a wider comparative one. This expands the spectrum of finite-time convergent trajectories that may be induced, and further gives the option of an additional (unconventional) type of exponential stability (in addition to the conventional one). The closed-loop analysis is supported through suitable strict Lyapunov functions. Experimental tests on a 3-degree-of-freedom robot manipulator further support the contributed result.

show abstract

“…Remark 8. One corroborates from (12) the positive definiteness and radial unboundedness of S 0 (x; a, b∕k M ) (and consequently of ∑ n j=1 ∫…”

Section: Scalar Functions With Particular Properties Definitionsupporting

confidence: 57%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Output‐feedback finite‐time and exponential tracking continuous control for mechanical systems with constrained inputs

Zavala‐Río

Zamora-Gómez

Sánchez

et al. 2021

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

show abstract

Finite‐time coordination controls for multiple autonomous underwater vehicle systems

Chen,

Hu,

Ghosh

2023

Engineering Reports

View full text Add to dashboard Cite

SummaryCoordination control of multiple autonomous underwater vehicles (AUVs) has attracted considerable attention owing to its widespread applications in deep‐sea exploration, marine environment monitoring, regional searches, and detector recovery. In addition, finite‐time control theory is applied to ensure that the system achieves its control goal as soon as possible. To the authors' knowledge, few studies have systematically summarized the finite‐time coordination control of multiple AUV systems. Thus this review aims to systematically and completely introduce the research progress into the coordination control methods for multi‐AUV systems and their combination with finite‐time theory. The primary areas of focus are the research significance, present state, and prospects of coordination control and finite‐time control theory in multiple AUV systems, as well as their applications.

show abstract

A more exhaustive study on the finite‐time and exponential tracking continuous control for constrained‐input mechanical systems: Improved design and experiments

Zavala‐Río

Zamora-Gómez

Sánchez

et al. 2022

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

A more exhaustive study on the finite-time/exponential tracking continuous control for mechanical systems with input constraints is developed. The resulting control scheme is characterized by the inclusion of position-error and velocity-error correction terms which are suitably shaped to achieve the concerned types of convergence. Such a shaping is carried out through control parameters that act as exponential weights on the gained position and velocity errors. As an innovative aspect of the proposal, such exponential weights are not restricted to satisfy a fixed equivalence relation among them but rather a wider comparative one. This gives rise to a wider spectrum of finite-time convergent closed-loop trajectories and gives an optional type of (unconventional) exponential convergence (in addition to the conventional one), which enlarges the controller potential for performance adjustment. This is further potentiated through a more generalized saturating structure on the error correction terms, that includes the usual saturating-proportional saturating-derivative type one as a particular case. The improved design is supported through a more general analysis based on more general strict Lyapunov functions, stating more solid analytical bases for possible design extensions on the accomplishment of other (more complex) control objectives. The study is further supported through experimental tests on a 3-degree-of-freedom robot manipulator.

show abstract

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

Cited by 13 publications

References 28 publications

Output‐feedback finite‐time and exponential tracking continuous control for mechanical systems with constrained inputs

Output‐feedback finite‐time and exponential tracking continuous control for mechanical systems with constrained inputs

Finite‐time coordination controls for multiple autonomous underwater vehicle systems

A more exhaustive study on the finite‐time and exponential tracking continuous control for constrained‐input mechanical systems: Improved design and experiments

Contact Info

Product

Resources

About