Prescribed-Time Safety Control for Unknown Systems and Its Application to Robotic Manipulator

In this paper, the concept of prescribed-time safety is introduced in the case that initial states are not in a safe set, which requires that the trajectories of systems visit a safe set within the prescribed time and then remain in the safe set. In contrast to safety-critical applications that requ...

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Veröffentlicht in:	IEEE transactions on automation science and engineering 2024-12, p.1-11
Hauptverfasser:	Zhang, Sihua, Zhai, Di-Hua, Xiong, Yuhan, Xia, Yuanqing
Format:	Artikel
Sprache:	eng
Schlagworte:	Automation control barrier function Convergence disturbance observer Disturbance observers Manipulators prescribed time Robotic systems Robots Safety Time factors Trajectory Uncertainty Vectors
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