Robust finite-time control approach for robotic manipulators

Gao, F.; Zhao, D.; Li, S.; Zhu, Quanmin

Abstract

In this study, a new robust finite-time stability control approach for robot systems is developed based on finite-time Lyapunov stability principle and proved with backstepping method. The corresponding stability analysis is presented to lay a foundation for theoretical understanding to the underlying design issues as well as safe operation for real systems. A case study of a two-link robot model is presented to demonstrate the effectiveness of the proposed approach. © 2010 The Institution of Engineering and Technology.

• Journal Article Type: Article
• Publication Date: Feb 5, 2010
• Deposit Date: Dec 20, 2010
• Publicly Available Date: Feb 9, 2016
• Journal: IET Control Theory and Applications
• Print ISSN: 1751-8644
• Electronic ISSN: 1751-8652
• Publisher: Institution of Engineering and Technology (IET)
• Peer Reviewed: Peer Reviewed
• Volume: 4
• Issue: 1
• Pages: 1-15
• DOI: https://doi.org/10.1049/iet-cta.2008.0014
• Keywords: Lyapunov methods, manipulators, robust control, backstepping method, finite-time Lyapunov stability, robotic manipulator, robust finite-time control, stability control, two-link robot model
• Public URL: https://uwe-repository.worktribe.com/output/1015305
• Publisher URL: http://dx.doi.org/10.1049/iet-cta.2008.0014
• Contract Date: Feb 9, 2016