Adaptive finite-time backstepping control for a two-wheeled mobile manipulator

2018 ◽  
Vol 32 (12) ◽  
pp. 5897-5906
Author(s):  
Yudong Zhao ◽  
Shikai Zhang ◽  
Jangmyung Lee
Keyword(s):  
Finite Time ◽  
Backstepping Control ◽  
Mobile Manipulator

scholarly journals Finite-Time Backstepping Control for Quadrotors With Disturbances and Input Constraints

IEEE Access ◽  
2018 ◽  
Vol 6 ◽  
pp. 62037-62049 ◽  
Author(s):  
Tao Jiang ◽  
Defu Lin ◽  
Tao Song
Keyword(s):  
Finite Time ◽  
Backstepping Control ◽  
Input Constraints

Adaptive Fuzzy Finite-Time Command-Filtered Backstepping Control of Flexible-Joint Robots

Robotica ◽  
2020 ◽  
pp. 1-20
Author(s):  
Roger Datouo ◽  
Joseph Jean-Baptiste Mvogo Ahanda ◽  
Achille Melingui ◽  
Frédéric Biya-Motto ◽  
Bernard Essimbi Zobo
Keyword(s):  
Finite Time ◽  
Closed Loop ◽  
Computational Cost ◽  
Backstepping Control ◽  
Lyapunov Theory ◽  
Loop System ◽  
Closed Loop System ◽  
Flexible Joint ◽  
Adaptive Fuzzy ◽  
Finite Time Stabilization

SUMMARY The problem of finite-time tracking control for n-link flexible-joint robot manipulators is addressed. An adaptive fuzzy finite-time command-filtered backstepping control scheme is presented to solve the following problems: “explosion of terms” problem, finite-time stabilization of the closed-loop system, and the reduction of computational cost. To this end, new virtual adaptive control signals and new finite-time error compensation mechanism are constructed using inherent properties of robot manipulator systems. Based on the Lyapunov theory, the finite-time stabilization of the closed-loop system is proved. Simulation studies show the effectiveness of the proposed method.

Composite backstepping control with finite-time convergence

Optik ◽  
2017 ◽  
Vol 142 ◽  
pp. 260-272 ◽  
Author(s):  
Sheng Yi ◽  
Jiang Wang ◽  
Bin Li
Keyword(s):  
Finite Time ◽  
Backstepping Control ◽  
Finite Time Convergence
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