Global Output Feedback Finite-Time Regulation of Robot Manipulators Under Actuator Constraints

2017 ◽  
Vol 139 (6) ◽  
Author(s):  
Haihong Wang ◽  
Yuxin Su ◽  
Liyin Zhang
Keyword(s):  
Finite Time ◽  
Robot Manipulators ◽  
A Priori ◽  
Lyapunov Stability Theory ◽  
Time Stability ◽  
Bounded Control ◽  
Finite Time Stability ◽  
Expected Performance ◽  
Actuator Constraints ◽  
Joint Velocity

In this paper, the finite-time regulation problem of robot manipulators under saturated actuator inputs with position measurements only is addressed. A simple saturated finite-time proportional-derivative (PD) plus gravity compensation (PD+) controller is presented, in which the joint velocity is estimated by constructing a simple nonlinear filter. Global finite-time stability is shown by using Lyapunov stability theory and geometric homogeneity technique. The benefits of this design are that the proposed control can be easily implemented and ensures global finite-time stability with bounded control by selecting control gains a priori. Simulations and experimental results illustrate the expected performance of the proposed approach.

Global finite-time regulation of robot manipulators using only position measurements

2017 ◽  
Vol 40 (5) ◽  
pp. 1681-1690 ◽  
Author(s):  
Haihong Wang ◽  
Yuxin Su
Keyword(s):  
Finite Time ◽  
Robot Manipulators ◽  
Lyapunov Stability Theory ◽  
Nonlinear Filter ◽  
Gravity Compensation ◽  
Time Stability ◽  
Velocity Measurements ◽  
Finite Time Stability ◽  
Expected Performance ◽  
Joint Velocity

In the paper, we consider the problem of global finite-time regulation of robot manipulators with position measurements only. A simple nonlinear filter is proposed to replace the joint velocity measurements. A nonlinear proportional-derivative plus gravity compensation is constructed. Global finite-time stability is proved using Lyapunov stability theory and a geometric homogeneity technique. The benefits of the proposed control are the ease of implementation and global finite-time stability without joint velocity measurements. Simulations and experimental results are presented to verify the expected performance of the proposed approach.

scholarly journals Finite-Time Stability of Large-Scale Systems with Interval Time-Varying Delay in Interconnection

Complexity ◽  
2017 ◽  
Vol 2017 ◽  
pp. 1-11 ◽  
Author(s):  
T. La-inchua ◽  
P. Niamsup ◽  
Xinzhi Liu
Keyword(s):  
Finite Time ◽  
Large Scale ◽  
Lyapunov Stability Theory ◽  
Linear Matrix ◽  
Time Varying ◽  
Time Stability ◽  
Large Scale Systems ◽  
Interval Time ◽  
Finite Time Stability ◽  
Time Varying Delay

We investigate finite-time stability of a class of nonlinear large-scale systems with interval time-varying delays in interconnection. Time-delay functions are continuous but not necessarily differentiable. Based on Lyapunov stability theory and new integral bounding technique, finite-time stability of large-scale systems with interval time-varying delays in interconnection is derived. The finite-time stability criteria are delays-dependent and are given in terms of linear matrix inequalities which can be solved by various available algorithms. Numerical examples are given to illustrate effectiveness of the proposed method.

scholarly journals Partial Finite-Time Synchronization of Switched Stochastic Chua's Circuits via Sliding-Mode Control

2011 ◽  
Vol 2011 ◽  
pp. 1-13 ◽  
Author(s):  
Zhang-Lin Wan ◽  
Yi-You Hou ◽  
Teh-Lu Liao ◽  
Jun-Juh Yan
Keyword(s):  
Lyapunov Stability ◽  
Finite Time ◽  
Time Synchronization ◽  
Sliding Mode ◽  
Lyapunov Stability Theory ◽  
Sliding Mode Controller ◽  
Time Stability ◽  
Switching Law ◽  
Finite Time Stability ◽  
The Mean

This paper considers the problem of partial finite-time synchronization between switched stochastic Chua's circuits accompanied by a time-driven switching law. Based on the Ito formula and Lyapunov stability theory, a sliding-mode controller is developed to guarantee the synchronization of switched stochastic master-slave Chua's circuits and for the mean of error states to obtain the partial finite-time stability. Numerical simulations demonstrate the effectiveness of the proposed methods.

scholarly journals Finite-time stability of linear stochastic fractional-order systems with time delay

2021 ◽  
Vol 2021 (1) ◽  
Author(s):  
Lassaad Mchiri ◽  
Abdellatif Ben Makhlouf ◽  
Dumitru Baleanu ◽  
Mohamed Rhaima
Keyword(s):  
Time Delay ◽  
Fractional Order ◽  
Finite Time ◽  
Stochastic Analysis ◽  
Fractional Order Systems ◽  
Time Stability ◽  
Finite Time Stability ◽  
Analysis Techniques ◽  
Generalized Gronwall Inequality ◽  
Stability Of The Solution

AbstractThis paper focuses on the finite-time stability of linear stochastic fractional-order systems with time delay for $\alpha \in (\frac{1}{2},1)$ α ∈ ( 1 2 , 1 ) . Under the generalized Gronwall inequality and stochastic analysis techniques, the finite-time stability of the solution for linear stochastic fractional-order systems with time delay is investigated. We give two illustrative examples to show the interest of the main results.

scholarly journals On necessary and sufficient conditions for output finite-time stability

Automatica ◽  
2021 ◽  
Vol 125 ◽  
pp. 109427
Author(s):  
Konstantin Zimenko ◽  
Denis Efimov ◽  
Andrey Polyakov ◽  
Artem Kremlev
Keyword(s):  
Finite Time ◽  
Sufficient Conditions ◽  
Necessary And Sufficient Conditions ◽  
Time Stability ◽  
Finite Time Stability ◽  
Necessary And Sufficient
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