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

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

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 Adaptive Sliding-Mode Tracking Control for a Class of Nonholonomic Mechanical Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Wei Sun
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Mechanical Systems ◽  
Terminal Sliding Mode ◽  
Nonholonomic Mechanical Systems ◽  
Affine Constraints ◽  
Control Scheme ◽  
Mode Tracking

This paper investigates the problem of finite-time tracking control for nonholonomic mechanical systems with affine constraints. The control scheme is provided by flexibly incorporating terminal sliding-mode control with the method of relay switching control and related adaptive technique. The proposed relay switching controller ensures that the output tracking error converges to zero in a finite time. As an application, a boat on a running river is given to show the effectiveness of the control scheme.

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

Extended state observer–based output feedback control for spacecraft pose tracking with control input saturation

2021 ◽  
pp. 095441002110177
Author(s):  
Kejie Gong ◽  
Ying Liao ◽  
Yafei Mei
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Finite Time ◽  
Output Feedback Control ◽  
State Observer ◽  
Extended State Observer ◽  
Control Input ◽  
Extended State ◽  
Pose Tracking ◽  
Control Scheme

This article proposed an extended state observer (ESO)–based output feedback control scheme for rigid spacecraft pose tracking without velocity feedback, which accounts for inertial uncertainties, external disturbances, and control input constraints. In this research, the 6-DOF tracking error dynamics is described by the exponential coordinates on SE(3). A novel continuous finite-time ESO is proposed to estimate the velocity information and the compound disturbance, and the estimations are utilized in the control law design. The ESO ensures a finite-time uniform ultimately bounded stability of the observation states, which is proved utilizing the homogeneity method. A non-singular finite-time terminal sliding mode controller based on super-twisting technology is proposed, which would drive spacecraft tracking the desired states. The other two observer-based controllers are also proposed for comparison. The superiorities of the proposed control scheme are demonstrated by theory analyses and numerical simulations.

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