Robust approximate fixed-time tracking control for uncertain robot manipulators

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Robust approximate fixed-time tracking control for uncertain robot manipulators. / Su, Yuxin; Zheng, Chunhong; Mercorelli, Paolo.
In: Mechanical Systems and Signal Processing, Vol. 135, No. 1, 106379, 01.01.2020.

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Su Y, Zheng C, Mercorelli P. Robust approximate fixed-time tracking control for uncertain robot manipulators. Mechanical Systems and Signal Processing. 2020 Jan 1;135(1):106379. Epub 2019 Oct. doi: 10.1016/j.ymssp.2019.106379

Bibtex

@article{a38c6d8943234810801ee5c2e26b92fd,
title = "Robust approximate fixed-time tracking control for uncertain robot manipulators",
abstract = "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.",
keywords = "Fixed-time stability, Robot control, Robust control, Terminal sliding mode control, Trajectory tracking, Engineering",
author = "Yuxin Su and Chunhong Zheng and Paolo Mercorelli",
year = "2020",
month = jan,
day = "1",
doi = "10.1016/j.ymssp.2019.106379",
language = "English",
volume = "135",
journal = "Mechanical Systems and Signal Processing",
issn = "0888-3270",
publisher = "Academic Press Inc.",
number = "1",

}

RIS

TY - JOUR

T1 - Robust approximate fixed-time tracking control for uncertain robot manipulators

AU - Su, Yuxin

AU - Zheng, Chunhong

AU - Mercorelli, Paolo

PY - 2020/1/1

Y1 - 2020/1/1

N2 - 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.

AB - 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.

KW - Fixed-time stability

KW - Robot control

KW - Robust control

KW - Terminal sliding mode control

KW - Trajectory tracking

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85072923546&partnerID=8YFLogxK

U2 - 10.1016/j.ymssp.2019.106379

DO - 10.1016/j.ymssp.2019.106379

M3 - Journal articles

AN - SCOPUS:85072923546

VL - 135

JO - Mechanical Systems and Signal Processing

JF - Mechanical Systems and Signal Processing

SN - 0888-3270

IS - 1

M1 - 106379

ER -