Finite-time control of robotic manipulators

This work offers the solution at the control feed-back level of the accurate trajectory tracking subject to finite-time convergence. Dynamic equations of a rigid robotic manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when trac...

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Bibliographic Details
Published inAutomatica (Oxford) Vol. 51; pp. 49 - 54
Main Author Galicki, Mirosław
Format Journal Article
LanguageEnglish
Published 01.01.2015
Subjects
Controllers
Disturbances
Manipulators
Mathematical analysis
Mathematical models
Robot arms
Robotics
Tracking
Trajectories
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Summary:This work offers the solution at the control feed-back level of the accurate trajectory tracking subject to finite-time convergence. Dynamic equations of a rigid robotic manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory. Based on the suitably defined non-singular terminal sliding vector variable and the Lyapunov stability theory, we propose a class of absolutely continuous robust controllers which seem to be effective in counteracting both uncertain dynamics and unbounded disturbances. The numerical simulation results carried out for a robotic manipulator consisting of two revolute kinematic pairs operating in a two-dimensional joint space illustrate performance of the proposed controllers.
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ISSN:0005-1098
DOI:10.1016/j.automatica.2014.10.089