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• W2125248216 abstract "A solution to the problem of global exponential tracking of mechanical systems without velocity measurements is given in the technical note. The proposed controller is obtained combining a redesign of the recently reported exponentially stable immersion and invariance velocity observer and a new 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 including those with unbounded inertia matrix and possible presence of friction forces. Unlike previous results that rely on the presence-exact knowledge and pervasiveness-of these forces, our design treats them as disturbances, which are suitably compensated." @default.
• W2125248216 created "2016-06-24" @default.
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• W2125248216 date "2015-03-01" @default.
• W2125248216 modified "2023-10-16" @default.
• W2125248216 title "A Globally Exponentially Stable Tracking Controller for Mechanical Systems Using Position Feedback" @default.
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• W2125248216 doi "https://doi.org/10.1109/tac.2014.2330701" @default.
• W2125248216 hasPublicationYear "2015" @default.
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