Title :
Global finite-time tracking control for rigid manipulators based on adding a power integrator
Author :
Sahabi, Mohamed Elamin ; Wang, Xiangyu ; Li, Shihua
Author_Institution :
School of Automation, Southeast University, Nanjing 210096, China Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, China
Abstract :
This paper investigates the finite-time tracking control problem for rigid manipulator systems. The proposed controller is based on adding a power integrator technique, which guarantees global finite-time convergence of tracking errors. Compared with the backstepping control scheme, the proposed control scheme provides a faster convergence rate for the tracking error system. Simulation results show the effectiveness of the proposed control scheme.
Keywords :
Backstepping; Barium; Closed loop systems; Convergence; Manipulator dynamics; Manipulator; adding a power integrator technique; finite-time control; tracking control;
Conference_Titel :
Control Conference (CCC), 2015 34th Chinese
Conference_Location :
Hangzhou, China
DOI :
10.1109/ChiCC.2015.7259793
