A global continuous control scheme with desired conservative-force compensation for the finite-time and exponential regulation of bounded-input mechanical systems

Global continuous control for the finite-time or (local) exponential stabilization of mechanical systems with bounded inputs is achieved involving desired conservative-force compensation. With respect to the on-line compensation case, the proposed controller entails a closed-loop analysis with considerably higher degree of complexity, whence more involved requirements prove to arise. Other important analytical limitations are further overcome through the developed algorithm. Numerical simulations considering a robotic arm model corroborate the efficiency of the proposed scheme.