Lyapunov-based finite-time control of robot manipulators

被引：15

作者：

Cruz-Zavala, Emmanuel ^{[1
]}

Sanchez, Tonametl ^{[2
]}

Nuno, Emmanuel ^{[1
]}

Moreno, Jaime A. ^{[3
]}

机构：

[1] Univ Guadalajara, Dept Comp Sci, Guadalajara, Mexico

[2] IPICYT, Div Control & Dynam Syst, San Luis Potosi, San Luis Potosi, Mexico

[3] Univ Nacl Autonoma Mexico, Inst Ingn, Mexico City, DF, Mexico

来源：

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2021年 / 31卷 / 08期

关键词：

double integrator; finite‐ time regulators; time stability; Lyapunov functions; robot manipulators;

D O I：

10.1002/rnc.5446

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 objective of this work is to propose new families of finite-time controllers providing bounded and unbounded control signals. We show that this new family of controllers can be applied to solve the regulation problem for robot manipulators in finite-time with unbounded and bounded torques. The key idea to accomplish this objective is to propose a novel family of Lyapunov functions, which is more suitable for designing finite-time regulators for robot manipulators. The efficacy of these controllers, compared with other schemes, is illustrated by a simulation example, which shows that the proposed controllers are a good alternative to solve the finite-time regulation problem for robot manipulators.

引用

页码：3090 / 3114

页数：25

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