Finite-time extended state observer and fractional-order sliding mode controller for impulsive hybrid port-Hamiltonian systems with input delay and actuators saturation: Application to ball-juggler robots
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DOI: 10.1016/j.mechmachtheory.2021.104577
Abstract: Abstract This paper addresses the robust control problem of mechanical systems with hybrid dynamics in port-Hamiltonian form. It is assumed that only the position states are measurable, and time-delay and saturation constraint affect the control… read more here.
Keywords: extended state; port hamiltonian; time; controller ... See more keywords