Stabilization of position or uniform motion of mechanical systems via bounded control and without velocity measurements

Design and implementation of an H<inf>&#x221E;</inf> controller for a quadrotor helicopter

“…In order to obtain the velocity states, we use approximate differentiation [23], [24], [25] of these measurements. The discrete transfer function of the approximate differentiation as implemented is expressed:…”

Non-linear PI regulators in control problems for holonomic mechanical systems

“…From a practical viewpoint, an advantage of the saturated controller (27) is that it satisfies the input constraints. It should be noted that our controller (27) is given in explicit form and has been designed more easily and simply then the bounded control schemes via dynamic output feedback proposed by Burkov (1995Burkov ( , 2009 and Loria et al (1997). Moreover, the performance of the controller (27) does not require the integration of additional differential equations.…”

“…As mentioned in Berghuis and Nijmeijer (1993a) the main drawback of such approach is the local stability conditions for the closed-loop system. A different approach to the regulation problem for robot manipulators without velocity measurements consists in using a dynamic position feedback controller via a first-order linear compensator by invoking LaSalle's invariance principle, see for instance Nijmeijer (1993a,1993b), Burkov (1995Burkov ( , 1998Burkov ( , 2009), Loria et al (1997) and Siciliano and Villlani (1996). However, these results are applicable only for non-dissipative mechanical systems with the potential energy which doesn't depend on time.…”

“…Several control strategies that solve the regulation problem for robot manipulators using only position measurements have been presented in the literature, see for instance Nijmeijer (1993a,1993b), Burkov (1995, 1998), Canudas de Wit and Fixot (1991, Loria, Kelly, Ortega, and Santibanez (1997), Nicosia and Tomei (1990) and Siciliano and Villlani (1996).…”

Output-Feedback Adaptive SP-SD-Type Control with an Extended Continuous Adaptation Algorithm for the Global Regulation of Robot Manipulators with Bounded Inputs

“…A similar replacement in a more general form of the SP-SD controller is proven to achieve global regulation through the design procedure proposed in [10] (where an alternative type of dirty derivative, which involves a saturation function in the auxiliary dynamics that gives rise to the estimated velocity, results from the application of the proposed methodology). Furthermore, an outputfeedback dynamic controller with a structure similar to that resulting from the methodology in [10], but which considers a single saturation function (at every joint) where both the position errors and velocity estimation states are involved, was proposed in [11] (where a dissipative linear term on the auxiliary state is added to the saturating velocity error dynamics involved for the dirty derivative calculation). Extensions of this approach to the elastic-joint case were further developed in [15].…”