Predefined-Time Robust Stabilization of Robotic Manipulators

The contribution of this paper is a dynamic controller that enforces predefined-time stabilization of robotic manipulators by exploiting the passivity property inherent to their dynamical structure. The proposed scheme is continuous and provides exact predefined-time stabilization in the case of ful...

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Veröffentlicht in:	IEEE/ASME transactions on mechatronics 2019-06, Vol.24 (3), p.1033-1040
Hauptverfasser:	Munoz-Vazquez, Aldo Jonathan, Sanchez-Torres, Juan Diego, Jimenez-Rodriguez, Esteban, Loukianov, Alexander G.
Format:	Artikel
Sprache:	eng
Schlagworte:	Circuit stability Computer simulation Controllers Convergence Finite-time convergence Manipulator dynamics Manipulators Numerical stability predefined-bounded convergence predefined-time stability Robot arms Robot dynamics robotic manipulators Robust stabilization Robustness (mathematics) sliding mode control Stability analysis Uncertainty
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