| dc.contributor | Springer | |
| dc.creator | López Araujo, Daniela Juanita | |
| dc.creator | Zavala Río, Arturo | |
| dc.creator | Santibáñez, Víctor | |
| dc.creator | Reyes Cortés, José Fernando | |
| dc.date | 2018-11-15T18:58:27Z | |
| dc.date | 2018-11-15T18:58:27Z | |
| dc.date | 2013 | |
| dc.date.accessioned | 2023-07-17T22:04:48Z | |
| dc.date.available | 2023-07-17T22:04:48Z | |
| dc.identifier | López-Araujo, D.J., Zavala-Río, A., Santibañez, V. et al. Int. J. Control Autom. Syst. (2013) 11: 105. https://doi.org/10.1007/s12555-012-9203-4 | |
| dc.identifier | http://hdl.handle.net/11627/4720 | |
| dc.identifier | https://doi.org/10.1007/s12555-012-9203-4 | |
| dc.identifier.uri | https://repositorioslatinoamericanos.uchile.cl/handle/2250/7544113 | |
| dc.description | "In this paper, an output-feedback adaptive scheme for the global position stabilization of robot manipulators with bounded inputs is proposed. Compared to the previous output-feedback adaptive approaches developed in a bounded-input context, the proposed free-of-velocity feedback controller guarantees the adaptive regulation objective: globally, avoiding discontinuities throughout the scheme, preventing the inputs to reach their natural saturation bounds, and imposing no saturation-avoidance restriction on the control gains. Moreover, the developed scheme is not restricted to the use of a specific saturation function to achieve the required boundedness, but may involve any one within a set of smooth and non-smooth (Lipschitz-continuous) bounded passive functions that include the hyperbolic tangent and the conventional saturation as particular cases. Experimental results corroborate the efficiency of the proposed scheme." | |
| dc.format | application/pdf | |
| dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | |
| dc.rights | http://creativecommons.org/licenses/by-nc-nd/4.0/ | |
| dc.rights | Acceso Abierto | |
| dc.subject | Adaptive control | |
| dc.subject | Bounded inputs | |
| dc.subject | Global regulation | |
| dc.subject | Output feedback | |
| dc.subject | Robot manipulators | |
| dc.subject | MATEMÁTICAS | |
| dc.title | Output-feedback adaptive control for the global regulation of robot manipulators with bounded inputs | |
| dc.type | article | |
