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Finite-time control for robot manipulators

✍ Scribed by Yiguang Hong; Yangsheng Xu; Jie Huang

Publisher
Elsevier Science
Year
2002
Tongue
English
Weight
155 KB
Volume
46
Category
Article
ISSN
0167-6911

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✦ Synopsis

Finite-time control of the robot system is studied through both state feedback and dynamic output feedback control. The e ectiveness of the proposed approach is illustrated by both theoretical analysis and computer simulation. In addition to o ering an alternative approach for improving the design of the robot regulator, this research also extends the study of the ΓΏnite-time control problem from second-order systems to a large class of higher order nonlinear systems.

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The complexity of computing the generalized forces or torques acting at the joints of a robot manipulator with n degrees of freedom directly effects the speed and accuracy of control. For real-time robust control, the large number of mathematical computations performed must satisfy the speed require