Robust approximate fixed-time tracking control for uncertain robot manipulators

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This paper addresses the problem of robust trajectory tracking for uncertain robot manipulators within a priori fixed-time. A new sliding surface is first proposed and a robust control is developed for ensuring global approximate fixed-time convergence. Global approximate fixed-time convergence of tracking errors is proven that the position tracking errors globally converge to an arbitrary small set centered on zero within a uniformly bounded time and then go to zero exponentially. It is also proved that there exists a uniformly bounded a priori convergence time and such a bound is independent of the initial states. Advantages of the proposed approach include approximate fixed-time stability featuring faster transient and higher steady-state tracking precision and singularity-free. Numerical simulations and experimental results validate the effectiveness and improved performance of the proposed approach.

Original languageEnglish
Article number106379
JournalMechanical Systems and Signal Processing
Issue number1
Number of pages17
Publication statusPublished - 01.01.2020

    Research areas

  • Fixed-time stability, Robot control, Robust control, Terminal sliding mode control, Trajectory tracking
  • Engineering