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)

Producción científica: Contribución a una revista › Artículo › revisión exhaustiva

3 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Páginas (desde-hasta)	3215-3220
Número de páginas	6
Publicación	IFAC-PapersOnLine
Volumen	50
N.º	1
DOI	https://doi.org/10.1016/j.ifacol.2017.08.440
Estado	Publicada - jul. 2017

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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",

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KW - Constrained control

KW - Desired limits

KW - Regulation

KW - Stability

KW - mechatronics

KW - nonlinear systems

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

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