Predefined-Time Backstepping Control for Tracking a Class of Mechanical Systems

被引：33
作者：
Jimenez-Rodriguez, Esteban [1 ]
Diego Sanchez-Torres, Juan [2 ]
Loukianov, Alexander G. [1 ]
机构：
[1] IPN, CINVESTAV, Dept Elect Engn, Av Bosque 1145, Guadalajara 45019, Jalisco, Mexico
[2] ITESO, Dept Math & Phys, Perifer Manuel Gomez Morin 8585, Tlaquepague 45604, Jalisco, Mexico
来源：
IFAC PAPERSONLINE | 2017年 / 50卷 / 01期
关键词：
Backstepping; Lyapunov; Mechanical systems; Predefined-time stability; Second-order systems; Tracking; STABILITY; STABILIZATION; DESIGN;
D O I：
10.1016/j.ifacol.2017.08.492
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The predefined-time exact tracking of unperturbed fully actuated mechanical systems is considered in this paper. A continuous second-order predefined-time stabilizing backstepping controller, designed using first-order predefined-time stabilizing functions, is developed to solve this problem. As an example, the proposed solution is applied over a two link planar manipulator and numerical simulations are conducted to show performance of the proposed control scheme. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：1680 / 1685
页数：6
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