Finite-time tracking control for robot manipulators with actuator saturation
โ Scribed by Su, Yuxin; Swevers, Jan
- Book ID
- 121718555
- Publisher
- Elsevier Science
- Year
- 2014
- Tongue
- English
- Weight
- 606 KB
- Volume
- 30
- Category
- Article
- ISSN
- 0736-5845
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๐ SIMILAR VOLUMES
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 o
The tracking problem is considered for robot manipulators. We propose a state feedback control algorithm which guarantees arbitrary attenuation on the outputs (the joint positions) of the effects of unknown timevarying disturbances as well as of parameter uncertainties.