Finite-Time Position Control of Robotic Manipulators

被引：0
|
作者：
Wang, Shi [1 ]
Wang, Yaonan [1 ]
Chen, Yijing [1 ]
机构：
[1] Hunan Univ, Coll Elect & Informat Technol Engn, Changsha, Hunan, Peoples R China
来源：
2018 13TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2018年
关键词：
Robotic Manipulators; Finite-Time Control; Convergence;
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 we offer the position controller of robotic manipulators subject to finite-time convergence. The feedback controller is an extension of the traditional PD control of robotic manipulators. Furthermore, we introduce a continuous function to smooth the control law and the proposed controller is absolutely continuous. The numerical simulation results carried out for a two-link robotic manipulator illustrate performance of the proposed controller.
引用
收藏
页码：929 / 932
页数：4
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