Observer-less output-feedback global continuous control for the finite-time and exponential stabilization of mechanical systems with constrained inputs

An observer-less output-feedback global continuous control scheme for the finite-time or (local) exponential stabilization of mechanical systems with constrained inputs is proposed. The approach is formally developed within the theoretical framework of local homogeneity. The closed-loop analysis incorporates a complementary insight on the control-induced motion dissipation through an ad hoc feedback-system passivity theorem. The work includes a simulation implementation section where the performance difference of the proposed scheme with previous observer-based and differentiation algorithms is brought to the fore.