Global finite-time inverse tracking control of robot manipulators

被引：50
|
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
相关论文
共 50 条
  • [31] Finite-time tracking for robot manipulators with singularity-free continuous control: A passivity-based approach
    Parra-Vega, V
    Hirzinger, G
    [J]. PROCEEDINGS OF THE 39TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5, 2000, : 5085 - 5090
  • [32] Continuous finite-time control for uncertain robot manipulators with integral sliding mode
    Zhang, Liyin
    Liu, Linzhi
    Wang, Zeng
    Xia, Yuquan
    [J]. IET CONTROL THEORY AND APPLICATIONS, 2018, 12 (11): : 1621 - 1627
  • [33] Robust fast finite-time sliding mode control for industrial robot manipulators
    Gambhire S.J.
    Sri Kanth K.S.
    Malvatkar G.M.
    Londhe P.S.
    [J]. International Journal of Dynamics and Control, 2019, 7 (2) : 607 - 618
  • [34] Adaptive Parameter Estimation and Control Design for Robot Manipulators With Finite-Time Convergence
    Yang, Chenguang
    Jiang, Yiming
    He, Wei
    Na, Jing
    Li, Zhijun
    Xu, Bin
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2018, 65 (10) : 8112 - 8123
  • [35] Modeling and Finite-Time Tracking Control for Mobile Manipulators with Affine and Holonomic Constraints
    SUN Wei
    WU Yuqiang
    [J]. Journal of Systems Science & Complexity, 2016, 29 (03) : 589 - 601
  • [36] Adaptive Neural Network Finite-Time Tracking Control for Uncertain Hydraulic Manipulators
    Liang, Xianglong
    Yao, Zhikai
    Deng, Wenxiang
    Yao, Jianyong
    [J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2024,
  • [37] A novel robust finite-time tracking control of uncertain robotic manipulators with disturbances
    Razmjooei, Hamid
    Shafiei, Mohammad Hossein
    Abdi, Elahe
    Yang, Chenguang
    [J]. JOURNAL OF VIBRATION AND CONTROL, 2022, 28 (5-6) : 719 - 731
  • [38] Finite-Time Model Predictive Tracking Control of Position and Orientation for Redundant Manipulators
    Jin, Long
    Zhang, Fan
    Liu, Mei
    Xu, Sendren Sheng-Dong
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2023, 70 (06) : 6017 - 6026
  • [39] Modeling and Finite-Time Tracking Control for Mobile Manipulators with Affine and Holonomic Constraints
    Sun Wei
    Wu Yuqiang
    [J]. JOURNAL OF SYSTEMS SCIENCE & COMPLEXITY, 2016, 29 (03) : 589 - 601
  • [40] Modeling and finite-time tracking control for mobile manipulators with affine and holonomic constraints
    Wei Sun
    Yuqiang Wu
    [J]. Journal of Systems Science and Complexity, 2016, 29 : 589 - 601
12345