Journal
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
Volume 27, Issue 3, Pages 550-557Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.rcim.2010.09.010
Keywords
Robot control; Finite-time stability; Tracking control; Global stability; Inverse dynamics control
Funding
- National Natural Science Foundation of China [50675167]
- A Foundation for the Author of National Excellent Doctoral Dissertation of China [200535]
- SRF
- Fundamental Research Funds for the Central Universities
- State Key Laboratory of Robotics and System (HIT) [SKLRS-2009-MS-04]
Ask authors/readers for more resources
This paper addresses the global finite-time tracking of robot manipulators. By replacing with the nonlinear exponential-like errors, the commonly used inverse dynamics control for robot manipulators is modified to produce global finite-time tracking. Using this method, the controlled robotic system is transformed into a nonlinear and decoupled one, and thus the tracking performance is very convenient to quantify. A Lyapunov-like argument along with finite-time stability analysis is employed to prove global finite-time stability. Simulations performed on a two degree-of-freedom (DOF) manipulator are provided to illustrate the effectiveness and the improved performance of the formulated algorithm. (c) 2010 Elsevier Ltd. All rights reserved.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available