Abstract
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.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
