A globally exponentially stable tracking controller for mechanical systems using position feedback

J. Romero Roméo Ortega 1 I. Sarras
1 Division Systèmes - L2S
L2S - Laboratoire des signaux et systèmes : 1289
Abstract : A solution to the problem of global exponential tracking of mechanical systems without velocity measurements is given in the technical note. The proposed controller is obtained combining a redesign of the recently reported exponentially stable immersion and invariance velocity observer and a new state-feedback passivity-based controller, which assigns to the closed-loop a port-Hamiltonian structure with a desired energy function. The result is applicable to a large class of mechanical systems including those with unbounded inertia matrix and possible presence of friction forces. Unlike previous results that rely on the presence-exact knowledge and pervasiveness-of these forces, our design treats them as disturbances, which are suitably compensated.
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Article dans une revue
IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2015, 60 (3), pp.818-823. 〈10.1109/tac.2014.2330701 〉
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https://hal-centralesupelec.archives-ouvertes.fr/hal-01261530
Contributeur : Myriam Baverel <>
Soumis le : lundi 25 janvier 2016 - 14:47:12
Dernière modification le : jeudi 5 avril 2018 - 12:30:23

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CENTRALESUPELEC | SUP_LSS | SUP_SYSTEMES | L2S | TDS-MACS | UNIV-PARIS-SACLAY

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J. Romero, Roméo Ortega, I. Sarras. A globally exponentially stable tracking controller for mechanical systems using position feedback. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2015, 60 (3), pp.818-823. 〈10.1109/tac.2014.2330701 〉. 〈hal-01261530〉

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