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

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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https://hal-centralesupelec.archives-ouvertes.fr/hal-01261530
Contributor : Myriam Baverel <>
Submitted on : Monday, January 25, 2016 - 2:47:12 PM
Last modification on : Wednesday, September 16, 2020 - 4:50:52 PM

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Jose Guadalupe Romero, Roméo Ortega, Ioannis 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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