Robust approximate fixed-time tracking control for uncertain robot manipulators
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In: Mechanical Systems and Signal Processing, Vol. 135, No. 1, 106379, 01.01.2020.
Research output: Journal contributions › Journal articles › Research › peer-review
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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 -