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Griselda I. Zamora-Gomez,Arturo Zavala-Rio,Daniela J. Lopez-Araujo,Victor Santibanz 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
Global continuous control for the finite-time or (local) exponential stabilization of mechanical systems with bounded inputs is achieved involving desired conservative-force compensation. With respect to the on-line compensation case, the proposed controller entails a closed-loop analysis with considerably higher degree of complexity, whence more involved requirements prove to arise. Other important analytical limitations are further overcome through the developed algorithm. Numerical simulations considering a robotic arm model corroborate the efficiency of the proposed scheme.