Authors

Jose Guadalupe Romero, Ioannis Sarras, Romeo Ortega

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.

Citation

  • Journal: 2013 American Control Conference
  • Year: 2013
  • Volume:
  • Issue:
  • Pages: 4969–4974
  • Publisher: IEEE
  • DOI: 10.1109/acc.2013.6580609

BibTeX

@inproceedings{Romero_2013,
  title={{A globally exponentially stable tracking controller for mechanical systems using position feedback}},
  DOI={10.1109/acc.2013.6580609},
  booktitle={{2013 American Control Conference}},
  publisher={IEEE},
  author={Romero, Jose Guadalupe and Sarras, Ioannis and Ortega, Romeo},
  year={2013},
  pages={4969--4974}
}

Download the bib file

References

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