A Globally Exponentially Stable Tracking Controller for Mechanical Systems Using Position Feedback

DOI10.1109/TAC.2014.2330701MaRDI QIDQ2982824zbMATH OpenFDO

Authors Ioannis Sarras, Jose Guadalupe Romero, Romeo Ortega

Publication date 16 May 2017

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/TAC.2014.2330701

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Feedback control (93B52) Stabilization of systems by feedback (93D15)

Cited in

(12)

• Virtual contractivity-based control of fully-actuated mechanical systems in the port-Hamiltonian framework
• An adaptive speed observer for a class of nonlinear mechanical systems: theory and experiments
• Energy regulation of torque-driven robot manipulators in joint space
• On Almost-Global Tracking for a Certain Class of Simple Mechanical Systems
• Distributed adaptive containment control for networked uncertain Euler-Lagrange systems
• Trajectory-tracking in finite-time for robot manipulators with bounded torques via output-feedback
• Immersion and invariance orbital stabilization of underactuated mechanical systems with collocated pre-feedback
• Output feedback controller for trajectory tracking of robot manipulators without velocity measurements nor observers
• Energy-based trajectory tracking for underactuated mechanical systems: velocity-free and disturbance rejection methods
• Input-to-state stable tracking control design for fully actuated mechanical systems using position measurements only
• Gyro-free attitude reorientation control of spacecraft with state and input constraints
• Two globally convergent adaptive speed observers for mechanical systems

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