Authors

Jose Guadalupe Romero, Romeo Ortega, Ioannis Sarras

Abstract

A solution to the problem of global exponential tracking of mechanical systems without velocity measurements is given in the paper. The proposed controller is obtained combining a recently reported exponentially stable immersion and invariance observer and a suitably designed 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 and, in particular, no assumptions are made on the presence-and exact knowledge-of friction forces.

Citation

  • Journal: IEEE Transactions on Automatic Control
  • Year: 2015
  • Volume: 60
  • Issue: 3
  • Pages: 818–823
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • DOI: 10.1109/tac.2014.2330701

BibTeX

@article{Romero_2015,
  title={{A Globally Exponentially Stable Tracking Controller for Mechanical Systems Using Position Feedback}},
  volume={60},
  ISSN={2334-3303},
  DOI={10.1109/tac.2014.2330701},
  number={3},
  journal={IEEE Transactions on Automatic Control},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Romero, Jose Guadalupe and Ortega, Romeo and Sarras, Ioannis},
  year={2015},
  pages={818--823}
}

Download the bib file

References

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