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 -