Further advancements on the output-feedback global continuous control for the finite-time and exponential stabilisation of bounded-input mechanical systems: desired conservative-force compensation and experiments

摘要

Global Saturating-Proportional Saturating-Derivative (SP-SD) type continuous control for the finite-time or (local) exponential stabilisation of mechanical systems with bounded inputs is achieved avoiding velocity variables in the feedback, and further simplified throughdesiredconservative-force compensation. The proposed output-feedback controller is not a simple extension of theon-linecompensation case but it rather proves to entail a closed-loop analysis with considerably higher degree of complexity that gives rise to more involved requirements. Interestingly, the proposal even shows that actuators with higher power-supply capabilities than in the on-line compensation case are required. Other important analytical limitations are further overcome through the developed algorithm. Experimental tests on a multi-degree-of-freedom robot corroborate the efficiency of the proposed approach.