Lyapunov‐based finite‐time control of robot manipulators

2021 ◽  
Author(s):  
Emmanuel Cruz‐Zavala ◽  
Tonametl Sanchez ◽  
Emmanuel Nuño ◽  
Jaime A. Moreno
Keyword(s):  
Finite Time ◽  
Robot Manipulators ◽  
Time Control

Finite-time control for robot manipulators

2002 ◽  
Vol 46 (4) ◽  
pp. 243-253 ◽  
Author(s):  
Yiguang Hong ◽  
Yangsheng Xu ◽  
Jie Huang
Keyword(s):  
Finite Time ◽  
Robot Manipulators ◽  
Time Control

Robust Finite-time Control of Robot Manipulators

2011 ◽  
Vol 44 (1) ◽  
pp. 11863-11868 ◽  
Author(s):  
Shunsuke Matoba ◽  
Nami Nakamura ◽  
Hisakazu Nakamura ◽  
Hirokazu Nishitani
Keyword(s):  
Finite Time ◽  
Robot Manipulators ◽  
Time Control

Finite-time control of uncertain time-varying systems in p-normal form

2020 ◽  
Author(s):  
Kanya Rattanamongkhonkun ◽  
Radom Pongvuthithum ◽  
Chulin Likasiri
Keyword(s):  
Normal Form ◽  
Finite Time ◽  
Control Law ◽  
Time Varying ◽  
Time Control ◽  
Special Cases ◽  
Time Varying Systems ◽  
A Chain ◽  
Uncertain Time ◽  
Power Integrator

Abstract This paper addresses a finite-time regulation problem for time-varying nonlinear systems in p-normal form. This class of time-varying systems includes a well-known lower-triangular system and a chain of power integrator systems as special cases. No growth condition on time-varying uncertainties is imposed. The control law can guarantee that all closed-loop trajectories are bounded and well defined. Furthermore, all states converge to zero in finite time.

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