Predefined-Time Tracking of a Class of Mechanical Systems

被引：0

作者：

Jimenez-Rodriguez, E. ^{[1
]}

Sanchez-Torres, J. D. ^{[2
]}

Gomez-Gutierrez, D. ^{[1
]}

Loukianov, A. G. ^{[1
]}

机构：

[1] CINVESTAV IPN Guadalajara, Dept Elect Engn, Av Bosque 1145 Col El Bajio, Zapopan 45019, Mexico

[2] ITESO Guadalajara, Dept Math & Phys, Perifer Sur 8585, Tlaquepaque 45604, Jalisco, Mexico

来源：

2016 13TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING, COMPUTING SCIENCE AND AUTOMATIC CONTROL (CCE) | 2016年

关键词：

STABILITY; STABILIZATION; DESIGN;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper the problem of predefined-time exact tracking of fully actuated and unperturbed mechanical systems is solved by means of a continuous controller. It is assumed the availability of the state and the desired trajectory as well as its two first derivatives. This is accomplished introducing the idea of second-order predefined-time stable systems, which is based on the nested application of the first-order predefined-time stabilizing function. As an example, the proposed solution is applied over a two-link planar manipulator and numerical simulations are conducted to show its performance.

引用

页数：5

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