F. Gao
Robust finite-time control approach for robotic manipulators
Gao, F.; Zhao, D.; Zhu, Quanmin; Li, S.
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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