Predefined-Time Robust Stabilization of Robotic Manipulators

被引：274

作者：

Jonathan Munoz-Vazquez, Aldo ^{[1
]}

Diego Sanchez-Torres, Juan ^{[2
]}

Jimenez-Rodriguez, Esteban ^{[3
]}

Loukianov, Alexander G. ^{[3
]}

机构：

[1] Autonomous Univ Chihuahua, Sch Engn, CONACYT, Chihuahua 31100, Mexico

[2] ITESO, Dept Math & Phys, Res Lab Optimal Design Devices & Adv Mat OPTIMA, Tlaquepaque 45604, Mexico

[3] CINVESTAV, IPN, Dept Elect Engn, Guadalajara 45019, Zapopan, Mexico

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2019年 / 24卷 / 03期

关键词：

Finite time convergence; predefined-bounded convergence; predefined-time stability; robotic manipulators; sliding mode control; SLIDING MODE CONTROL; STABILITY; CONTROLLER; DESIGN;

D O I：

10.1109/TMECH.2019.2906289

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 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 full knowledge of the robot dynamics. Nonetheless, even in the case of dynamic uncertainties and nonvanishing disturbances, exact predefined-time stabilization can be assured by using an additional unit-vector-like control term, and alternatively, a predefined-time predefined-bounded convergence can be achieved into a vicinity of the origin by means of a continuous controller. Numerical results based on simulations highlight the feasibility of the proposed scheme.

引用

页码：1033 / 1040

页数：8

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