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A globally exponentially stable tracking controller for mechanical systems using position feedback

Abstract : A solution to the problem of global exponential tracking of mechanical systems without velocity measurements is given in the paper. The proposed controller is obtained combining a recently reported exponentially stable immersion and invariance observer and a suitably designed 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 and, in particular, no assumptions are made on the presence-and exact knowledge-of friction forces.
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https://hal-supelec.archives-ouvertes.fr/hal-00929864
Contributor : Myriam Baverel <>
Submitted on : Tuesday, January 14, 2014 - 9:49:51 AM
Last modification on : Tuesday, June 23, 2020 - 3:13:38 PM

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J. Romero, I. Sarras, Roméo Ortega. A globally exponentially stable tracking controller for mechanical systems using position feedback. 2013 IEEE American Control Conference ACC, Jun 2013, Washington, United States. pp.4969 - 4974, ⟨10.1109/acc.2013.6580609⟩. ⟨hal-00929864⟩

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