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Robust finite-time control approach for robotic manipulators

Gao, F.; Zhao, D.; Zhu, Quanmin; Li, S.

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Authors

F. Gao

D. Zhao

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Quan Zhu Quan.Zhu@uwe.ac.uk
Professor in Control Systems

S. Li



Abstract

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. © 2010 The Institution of Engineering and Technology.

Citation

Gao, F., Zhao, D., Li, S., & Zhu, Q. (2010). Robust finite-time control approach for robotic manipulators. IET Control Theory and Applications, 4(1), 1-15. https://doi.org/10.1049/iet-cta.2008.0014

Journal Article Type Article
Publication Date Feb 5, 2010
Deposit Date Dec 20, 2010
Publicly Available Date Feb 9, 2016
Journal IET Control Theory and Applications
Print ISSN 1751-8644
Electronic ISSN 1751-8652
Publisher Institution of Engineering and Technology (IET)
Peer Reviewed Peer Reviewed
Volume 4
Issue 1
Pages 1-15
DOI https://doi.org/10.1049/iet-cta.2008.0014
Keywords Lyapunov methods, manipulators, robust control, backstepping method, finite-time Lyapunov stability, robotic manipulator, robust finite-time control, stability control, two-link robot model
Public URL https://uwe-repository.worktribe.com/output/1015305
Publisher URL http://dx.doi.org/10.1049/iet-cta.2008.0014

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