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

2021 ◽  
Author(s):  
Arturo Zavala‐Río ◽  
Griselda I. Zamora‐Gómez ◽  
Tonametl Sanchez ◽  
Fernando Reyes‐Cortes ◽  
Víctor Santibáñez
Keyword(s):  
Output Feedback ◽  
Finite Time ◽  
Mechanical Systems ◽  
Continuous Control ◽  
Constrained Inputs

scholarly journals An output-feedback global continuous control scheme with desired gravity compensation for the finite-time and exponential regulation of bounded-input robotic systems

2018 ◽  
Vol 51 (22) ◽  
pp. 108-114 ◽  
Author(s):  
Griselda I. Zamora-Gómez ◽  
Arturo Zavala-Río ◽  
Daniela J. López-Araujo ◽  
Emmanuel Nuño ◽  
Emmanuel Cruz-Zavala
Keyword(s):  
Output Feedback ◽  
Finite Time ◽  
Robotic Systems ◽  
Continuous Control ◽  
Gravity Compensation ◽  
Control Scheme ◽  
Bounded Input

scholarly journals Output Feedback Finite-Time Stabilization of Systems Subject to Hölder Disturbances via Continuous Fractional Sliding Modes

2017 ◽  
Vol 2017 ◽  
pp. 1-8 ◽  
Author(s):  
Aldo-Jonathan Muñoz-Vázquez ◽  
Vicente Parra-Vega ◽  
Anand Sánchez-Orta ◽  
Gerardo Romero-Galván
Keyword(s):  
Fractional Order ◽  
Output Feedback ◽  
Finite Time ◽  
Sliding Mode ◽  
Practical Interest ◽  
Mathematical Framework ◽  
Continuous Control ◽  
Formidable Challenge ◽  
Full State ◽  
Fractional Order Controller

The problem of designing a continuous control to guarantee finite-time tracking based on output feedback for a system subject to a Hölder disturbance has remained elusive. The main difficulty stems from the fact that such disturbance stands for a function that is continuous but not necessarily differentiable in any integer-order sense, yet it is fractional-order differentiable. This problem imposes a formidable challenge of practical interest in engineering because (i) it is common that only partial access to the state is available and, then, output feedback is needed; (ii) such disturbances are present in more realistic applications, suggesting a fractional-order controller; and (iii) continuous robust control is a must in several control applications. Consequently, these stringent requirements demand a sound mathematical framework for designing a solution to this control problem. To estimate the full state in finite-time, a high-order sliding mode-based differentiator is considered. Then, a continuous fractional differintegral sliding mode is proposed to reject Hölder disturbances, as well as for uncertainties and unmodeled dynamics. Finally, a homogeneous closed-loop system is enforced by means of a continuous nominal control, assuring finite-time convergence. Numerical simulations are presented to show the reliability of the proposed method.

A robustness study of a finite‐time/exponential tracking continuous control scheme for constrained‐input mechanical systems: Analysis and experiments

2020 ◽  
Vol 30 (10) ◽  
pp. 3923-3944 ◽  
Author(s):  
Griselda I. Zamora‐Gómez ◽  
Arturo Zavala‐Río ◽  
Emilio Vázquez‐Ramírez ◽  
Fernando Reyes ◽  
Víctor Santibáñez
Keyword(s):  
Systems Analysis ◽  
Finite Time ◽  
Mechanical Systems ◽  
Continuous Control ◽  
Control Scheme ◽  
Constrained Input

Continuous Control for Fully Damped Mechanical Systems With Input Constraints: Finite-Time and Exponential Tracking

2020 ◽  
Vol 65 (2) ◽  
pp. 882-889 ◽  
Author(s):  
Griselda I. Zamora-Gomez ◽  
Arturo Zavala-Rio ◽  
Daniela J. Lopez-Araujo ◽  
Emmanuel Cruz-Zavala ◽  
Emmanuel Nuno
Keyword(s):  
Finite Time ◽  
Mechanical Systems ◽  
Continuous Control ◽  
Input Constraints
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