FINITE TIME TRACKING CONTROL FOR RIGID ROBOTIC MANIPULATORS WITH FRICTION AND EXTERNAL DISTURBANCES-中国期刊网

摘要 Thefinitetimetrackingproblemisconsideredforroboticmanipulatorswithunknowndynamicfriction,boundeddisturbancesandunmodeleddynamics.Aglobalrelayswitchingcontrolschemewithfinitetimeconvergenceisproposed.Forgeneralfinitetimevariablestructurecontroller,thecontrolsignalsmayescapetoinfiniteinfinitetimewhentheinitialstatesofthesystemareinsomespecifiedarea,causingthesingularityphenomenaoftheclosed-loopsystem.Thedesignschemeforfinitetimetrackingcontrolusesatwo-phaseswitchingcontrolmethodsothattheboundednessofthecontrolsignalisguaranteedandthesingularityphenomenaisavoided.

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FINITE TIME TRACKING CONTROL FOR RIGID ROBOTIC MANIPULATORS WITH FRICTION AND EXTERNAL DISTURBANCES

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FINITE TIME TRACKING CONTROL FOR RIGID ROBOTIC MANIPULATORS WITH FRICTION AND EXTERNAL DISTURBANCES

来源期刊

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