7 papers
Three High Performance Global Tracking Composite Adaptive Controllers for Fully Actuated Euler-Lagrange Systems: Experimental Validation
Luis Cervantes-Pérez, Jose Guadalupe Romero, Romeo Ortega +2
Three adaptive global tracking controllers for fully actuated Euler-Lagrange systems, with verifiable performance improvement over existing designs, are reported in this letter. Tw…
An Algebraic State Observer for a Class of Physical Systems
Alexey Bobtsov, Jose Guadalupe Romero, Romeo Ortega +1
In this paper we present a radically new approach to design state observers for nonlinear systems, with particular emphasis on physical ones. Our objective is to obtain an algebrai…
An Experimental Comparison of Sliding Mode and Immersion and Invariance Adaptive Controllers forPosition-feedback Tracking of a Simple Mechanical System with Friction
Luis Cervantes-Pérez, Víctor Santibáñez, Jesús Sandoval +2
The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback trackin…
Some Reflections on Sliding Mode Designs in Control Systems: An Example of Adaptive Tracking Control for Simple Mechanical Systems With Friction Without Measurement of Velocity
Romeo Ortega, Leyan Fang, Jose Guadalupe Romero
The objective of this note is to share some reflections of the authors regarding the use of sliding mode designs in control systems. We believe the abundant, and ever increasing, a…
Adaptive Compensation of Nonlinear Friction in Mechanical Systems Without Velocity Measurement
Jose Guadalupe Romero, Romeo Ortega, Leyan Fang +1
Friction is an unavoidable phenomenon that exists in all mechanical systems incorporating parts with relative motion. It is well-known that friction is a serious impediment for pre…
Standard LSParameter Estimators Ensure Finite Convergence Time for Linear Regression Equations Under an Interval Excitation Assumption
Romeo Ortega, Jose Guadalupe Romero, Stanislav Aranovskiy +1
In this brief note we recall the little-known fact that, for linear regression equations (LRE) with intervally excited (IE) regressors, standard Least Square (LS) parameter estimat…