Global finite-time inverse tracking control of robot manipulators

被引：51
作者：
Su, Yuxin [1 ]
Zheng, Chunhong [2 ]
机构：
[1] Xidian Univ, Sch Electromech Engn, Xian 710071, Peoples R China
[2] Xidian Univ, Sch Elect Engn, Xian 710071, Peoples R China
来源：
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2011年 / 27卷 / 03期
基金：
中国国家自然科学基金;
关键词：
Robot control; Finite-time stability; Tracking control; Global stability; Inverse dynamics control; TERMINAL SLIDING MODE; ITERATIVE LEARNING CONTROL; RIGID ROBOTS; STABILIZATION;
D O I：
10.1016/j.rcim.2010.09.010
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
This paper addresses the global finite-time tracking of robot manipulators. By replacing with the nonlinear exponential-like errors, the commonly used inverse dynamics control for robot manipulators is modified to produce global finite-time tracking. Using this method, the controlled robotic system is transformed into a nonlinear and decoupled one, and thus the tracking performance is very convenient to quantify. A Lyapunov-like argument along with finite-time stability analysis is employed to prove global finite-time stability. Simulations performed on a two degree-of-freedom (DOF) manipulator are provided to illustrate the effectiveness and the improved performance of the formulated algorithm. (c) 2010 Elsevier Ltd. All rights reserved.
引用
收藏
页码：550 / 557
页数：8
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