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Title: An incremental feedback control for uncertain mechanical system
Authors: Zhang, G
He, P 
Li, H 
Liu, H 
Xiong, XZ
Wei, ZC
Wei, W
Li, Y 
Issue Date: 2020
Source: IEEE access, 2020, v. 8, p. 20725-20734
Abstract: This paper focuses on the tracking problem for fully-actuated mechanical systems with uncertain parameters and external disturbances. Based on the state feedback control of contraction analysis, the robust controller with extra gains is suggested to provide for the tracking of mechanical systems with uncertainties. The proposed control scheme can be redesigned with dual ideas and theoretically prove that the robust control renders uniform roundedness. Further more, the inertia matrices being uniformly bounded above are limited. The simulation is proposed to account for the effectiveness and robustness of the provided method.
Keywords: Increment
Contraction analysis
Fully-actuated system
Robust control
Publisher: Institute of Electrical and Electronics Engineers
Journal: IEEE access 
EISSN: 2169-3536
DOI: 10.1109/ACCESS.2019.2963052
Rights: This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see
The following publication G. Zhang et al., "An Incremental Feedback Control for Uncertain Mechanical System," in IEEE Access, vol. 8, pp. 20725-20734, 2020 is available at
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