| dc.creator | Zamora Gómez, Griselda Ivone | |
| dc.creator | Zavala Río, Arturo | |
| dc.creator | López Araujo, Daniela Juanita | |
| dc.creator | Nuño, Emmanuel | |
| dc.creator | Cruz Zavala, Emmanuel | |
| dc.date | 2019-08-27T22:27:29Z | |
| dc.date | 2019-08-27T22:27:29Z | |
| dc.date | 2018 | |
| dc.date.accessioned | 2023-07-17T22:05:11Z | |
| dc.date.available | 2023-07-17T22:05:11Z | |
| dc.identifier | Griselda I. Zamora-Gómez, Arturo Zavala-Río, Daniela J. López-Araujo, Emmanuel Nuño, Emmanuel Cruz-Zavala,
An output-feedback global continuous control scheme with desired gravity compensation for the finite-time and exponential regulation of bounded-input robotic systems, IFAC-PapersOnLine, Volume 51, Issue 22, 2018, Pages 108-114. | |
| dc.identifier | http://hdl.handle.net/11627/5135 | |
| dc.identifier | https://doi.org/10.1016/j.ifacol.2018.11.526 | |
| dc.identifier.uri | https://repositorioslatinoamericanos.uchile.cl/handle/2250/7544268 | |
| dc.description | "A Saturating-Proportional Saturating-Derivative type global continuous control scheme with desired gravity compensation for the finite-time or (local) exponential stabilization of robotic systems with constrained inputs, avoiding velocity variables in the feedback, is presented. The proposed output-feedback controller proves to need a closed-loop analysis with considerably higher degree of complexity, and entail more involved consequent requirements, than in the on-line compensation case. Other analytical limitations are further overcome through the developed algorithm. Simulation tests corroborate the efficiency of the proposed approach." | |
| dc.format | application/pdf | |
| dc.publisher | International Federation of Automatic Control | |
| 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 | Robotic systems | |
| dc.subject | Output feedback | |
| dc.subject | Finite-time stability | |
| dc.subject | Bounded inputs | |
| dc.subject | MATEMÁTICAS | |
| dc.title | An output-feedback global continuous control scheme with desired gravity compensation for the finite-time and exponential regulation of bounded-input robotic systems | |
| dc.type | article | |
