Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 63, Issue 12, Pages 4309-4316Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2018.2817232
Keywords
Euler-Lagrange (EL) systems; finite-time (FT) control; passivity-based control
Funding
- Mexican CONACyT [CB-282807, CB-241171, PAPIIT-UNAM IN113617, CVU 267513]
- Spanish Government [DPI2016-80077-R]
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Motivated by the energy-shaping framework and the properties of homogeneous systems. in this paper, we solve the global regulation problem. in finite-time (FT), of a class of fully actuated Euler-Lagrange (EL) systems without requiring velocity measurements. As in the energy shaping methodology, the controller is another EL-system and the plant-controller interconnection is the gradient of a suitable defined potential function. The desired equilibrium point becomes globally asymptotically stable when 1) the desired equilibrium is unique and isolated; and 2) damping can be back-propagated from the controller to the plant. The potential energy and dissipation functions of the controller are designed to satisfy such requirements and to provide a closed-loop system that admits a homogeneous approximation of negative degree in order to ensure FT convergence. The proposed methodology allows to obtain different novel controllers.
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