Journal
SYSTEMS & CONTROL LETTERS
Volume 46, Issue 4, Pages 243-253Publisher
ELSEVIER SCIENCE BV
DOI: 10.1016/S0167-6911(02)00130-5
Keywords
robot control; finite-time regulation; stabilization; nonsmooth control
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Finite-time control of the robot system is studied through both state feedback and dynamic output feedback control. The effectiveness of the proposed approach is illustrated by both theoretical analysis and computer simulation. In addition to offering an alternative approach for improving the design of the robot regulator, this research also extends the study of the finite-time control problem from second-order systems to a large class of higher order nonlinear systems. (C) 2002 Elsevier Science B.V. All rights reserved.
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