Robust finite-time control approach for robotic manipulators

被引：118
|
作者：
Zhao, D. [1 ,2 ]
Li, S. [1 ]
Zhu, Q. [3 ]
Gao, F. [4 ]
机构：
[1] Shanghai Jiao Tong Univ, Inst Automat, Shanghai 200240, Peoples R China
[2] China Univ Petr, Coll Mech & Elect Engn, Dongying 257061, Peoples R China
[3] Univ W England, Fac CEMS, Bristol BS16 1QY, Avon, England
[4] Shanghai Jiao Tong Univ, Sch Mech Engn, Shanghai 200240, Peoples R China
来源：
IET CONTROL THEORY AND APPLICATIONS | 2010年 / 4卷 / 01期
基金：
高等学校博士学科点专项科研基金; 中国国家自然科学基金;
关键词：
SLIDING MODE-CONTROL; COMPENSATION CONTROL LAW; TRACKING CONTROL; OUTPUT-FEEDBACK; NONLINEAR-SYSTEMS; ADAPTIVE-CONTROL; STABILIZATION; PERFORMANCE; STABILITY; DESIGN;
D O I：
10.1049/iet-cta.2008.0014
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 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.
引用
收藏
页码：1 / 15
页数：15
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