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

J. Romero 1 Roméo Ortega 2
2 Division Systèmes - L2S
L2S - Laboratoire des signaux et systèmes : 1289
Abstract : A solution to the problem of global exponential tracking without velocity measurement of mechanical systems with friction and possibly unbounded inertia matrix is given in the paper. The proposed controller is obtained combining a new full--information passivity--based controller with a new immersion and invariance observer. The resulting closed--loop system has, in some suitably defined coordinates, a port--Hamiltonian structure with a desired energy function and a uniformly positive definite damping matrix. In this way, global exponential tracking of position and velocity for all desired reference trajectories is ensured.
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Submitted on : Tuesday, January 14, 2014 - 10:32:54 AM
Last modification on : Thursday, April 26, 2018 - 2:24:39 PM

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J. Romero, Roméo Ortega. A Globally Exponentially Stable Tracking Controller for Mechanical Systems with Friction Using Position Feedback. 9th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2013), Sep 2013, Toulouse, France. pp.371-376, ⟨10.3182/20130904-3-FR-2041.00174⟩. ⟨hal-00929934⟩

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