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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| Published in | Automatica (Oxford) Vol. 51; pp. 49 - 54 |
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| Main Author | |
| Format | Journal Article |
| Language | English |
| Published |
01.01.2015
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0005-1098 |
| DOI | 10.1016/j.automatica.2014.10.089 |
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| Abstract | 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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| AbstractList | 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. |
| Author | Galicki, Mirosław |
| Author_xml | – sequence: 1 givenname: Mirosław surname: Galicki fullname: Galicki, Mirosław |
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