Output-feedback global continuous finite-time and exponential stabilization of bounded-input mechanical systems

2017 ◽  
Author(s):  
Griselda I. Zamora-Gomez ◽  
Arturo Zavala-Rio ◽  
Daniela J. Lopez-Araujo
Keyword(s):  
Output Feedback ◽  
Finite Time ◽  
Mechanical Systems ◽  
Exponential Stabilization ◽  
Bounded 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

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.

scholarly journals Finite-time estimation algorithms for LPV discrete-time systems with application to output feedback stabilization

Automatica ◽  
2021 ◽  
Vol 125 ◽  
pp. 109436
Author(s):  
Khadidja Chaib-Draa ◽  
Ali Zemouche ◽  
Fazia Bedouhene ◽  
Rajesh Rajamani ◽  
Yan Wang ◽  
...  
Keyword(s):  
Discrete Time ◽  
Output Feedback ◽  
Finite Time ◽  
Time Estimation ◽  
Feedback Stabilization ◽  
Estimation Algorithms ◽  
Output Feedback Stabilization ◽  
Discrete Time Systems ◽  
Time Systems

Finite-time output feedback path following control of underactuated MSV based on FTESO

2021 ◽  
Vol 224 ◽  
pp. 108660
Author(s):  
Jun Nie ◽  
Haixia Wang ◽  
Xiao Lu ◽  
Xiaogong Lin ◽  
Chunyang Sheng ◽  
...  
Keyword(s):  
Output Feedback ◽  
Finite Time ◽  
Path Following ◽  
Feedback Path ◽  
Path Following Control
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