%0 Journal Article %T A globally exponentially stable tracking controller for mechanical systems using position feedback %+ Laboratoire des signaux et systèmes (L2S) %+ Supélec Sciences des Systèmes (E3S) %A Romero, Jose Guadalupe %A Ortega, Roméo %A Sarras, Ioannis %< avec comité de lecture %@ 0018-9286 %J IEEE Transactions on Automatic Control %I Institute of Electrical and Electronics Engineers %V 60 %N 3 %P 818-823 %8 2015 %D 2015 %R 10.1109/tac.2014.2330701 %Z Computer Science [cs]/Automatic Control Engineering %Z Engineering Sciences [physics]/AutomaticJournal articles %X A solution to the problem of global exponential tracking of mechanical systems without velocity measurements is given in the technical note. The proposed controller is obtained combining a redesign of the recently reported exponentially stable immersion and invariance velocity observer and a new state-feedback passivity-based controller, which assigns to the closed-loop a port-Hamiltonian structure with a desired energy function. The result is applicable to a large class of mechanical systems including those with unbounded inertia matrix and possible presence of friction forces. Unlike previous results that rely on the presence-exact knowledge and pervasiveness-of these forces, our design treats them as disturbances, which are suitably compensated. %G English %L hal-01261530 %U https://centralesupelec.hal.science/hal-01261530 %~ CNRS %~ UNIV-PSUD %~ SUP_LSS %~ SUP_SYSTEMES %~ CENTRALESUPELEC %~ TDS-MACS %~ UNIV-PARIS-SACLAY %~ UNIV-PSUD-SACLAY %~ CENTRALESUPELEC-SACLAY %~ GS-COMPUTER-SCIENCE