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Lyapunov‐based finite‐time control of robot manipulators
Author(s) -
CruzZavala Emmanuel,
Sanchez Tonametl,
Nuño Emmanuel,
Moreno Jaime A.
Publication year - 2021
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.5446
Subject(s) - bounded function , control theory (sociology) , robot manipulator , robot , lyapunov function , computer science , key (lock) , control (management) , control engineering , mathematics , engineering , artificial intelligence , nonlinear system , mathematical analysis , physics , computer security , quantum mechanics
Abstract The objective of this work is to propose new families of finite‐time controllers providing bounded and unbounded control signals. We show that this new family of controllers can be applied to solve the regulation problem for robot manipulators in finite‐time with unbounded and bounded torques. The key idea to accomplish this objective is to propose a novel family of Lyapunov functions, which is more suitable for designing finite‐time regulators for robot manipulators. The efficacy of these controllers, compared with other schemes, is illustrated by a simulation example, which shows that the proposed controllers are a good alternative to solve the finite‐time regulation problem for robot manipulators.