A Globally Exponentially Stable Tracking Controller for Mechanical Systems Using Position Feedback

DOI10.1109/TAC.2014.2330701zbMath1360.93569MaRDI QIDQ2982824

Ioannis Sarras, Jose Guadalupe Romero, Romeo S. Ortega

Publication date: 16 May 2017

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Mathematics Subject Classification ID

Feedback control (93B52) Stabilization of systems by feedback (93D15) Control of mechanical systems (70Q05)

Related Items (6)

Virtual contractivity-based control of fully-actuated mechanical systems in the port-Hamiltonian framework ⋮ An adaptive speed observer for a class of nonlinear mechanical systems: theory and experiments ⋮ Energy regulation of torque-driven robot manipulators in joint space ⋮ Trajectory-tracking in finite-time for robot manipulators with bounded torques via output-feedback ⋮ Two globally convergent adaptive speed observers for mechanical systems ⋮ Distributed adaptive containment control for networked uncertain Euler–Lagrange systems

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