On position regulation of torque-driven mechanisms within torque and speed prescribed safe boundedness: A case study

Rafael Kelly; Adriana Salinas; Javier Moreno-Valenzuela

doi:10.1016/j.ifacol.2017.08.440

On position regulation of torque-driven mechanisms within torque and speed prescribed safe boundedness: A case study

Rafael Kelly, Adriana Salinas, Javier Moreno-Valenzuela

Centro de Investigación y Desarrollo de Tecnología Digital (CITEDI)

Research output: Contribution to journal › Article › peer-review

4 Scopus citations

Abstract

This paper addresses the position regulation of a torque-driven pendulum mechanism. By taking into account simultaneous torque and speed safe prescribed upper limits with speed depending torque limit, a static nonlinear controller is proposed. Experimental results are presented to illustrate the proposed controller performance.

Original language	English
Pages (from-to)	3215-3220
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	50
Issue number	1
DOIs	https://doi.org/10.1016/j.ifacol.2017.08.440
State	Published - Jul 2017

Keywords

Constrained control
Desired limits
Regulation
Stability
mechatronics
nonlinear systems

Access to Document

10.1016/j.ifacol.2017.08.440

Cite this

@article{5055b7cdcda54a5f8906665c13d387f2,

title = "On position regulation of torque-driven mechanisms within torque and speed prescribed safe boundedness: A case study",

abstract = "This paper addresses the position regulation of a torque-driven pendulum mechanism. By taking into account simultaneous torque and speed safe prescribed upper limits with speed depending torque limit, a static nonlinear controller is proposed. Experimental results are presented to illustrate the proposed controller performance.",

keywords = "Constrained control, Desired limits, Regulation, Stability, mechatronics, nonlinear systems",

author = "Rafael Kelly and Adriana Salinas and Javier Moreno-Valenzuela",

note = "Publisher Copyright: {\textcopyright} 2017",

year = "2017",

month = jul,

doi = "10.1016/j.ifacol.2017.08.440",

language = "Ingl{\'e}s",

volume = "50",

pages = "3215--3220",

journal = "IFAC-PapersOnLine",

issn = "1474-6670",

publisher = "IFAC Secretariat",

number = "1",

}

TY - JOUR

T1 - On position regulation of torque-driven mechanisms within torque and speed prescribed safe boundedness

T2 - A case study

AU - Kelly, Rafael

AU - Salinas, Adriana

AU - Moreno-Valenzuela, Javier

PY - 2017/7

Y1 - 2017/7

N2 - This paper addresses the position regulation of a torque-driven pendulum mechanism. By taking into account simultaneous torque and speed safe prescribed upper limits with speed depending torque limit, a static nonlinear controller is proposed. Experimental results are presented to illustrate the proposed controller performance.

AB - This paper addresses the position regulation of a torque-driven pendulum mechanism. By taking into account simultaneous torque and speed safe prescribed upper limits with speed depending torque limit, a static nonlinear controller is proposed. Experimental results are presented to illustrate the proposed controller performance.

KW - Constrained control

KW - Desired limits

KW - Regulation

KW - Stability

KW - mechatronics

KW - nonlinear systems

UR - http://www.scopus.com/inward/record.url?scp=85031786781&partnerID=8YFLogxK

U2 - 10.1016/j.ifacol.2017.08.440

DO - 10.1016/j.ifacol.2017.08.440

M3 - Artículo

SN - 1474-6670

VL - 50

SP - 3215

EP - 3220

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

IS - 1

ER -

On position regulation of torque-driven mechanisms within torque and speed prescribed safe boundedness: A case study

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this