کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
7110044 1460664 2015 6 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Finite-time control of robotic manipulators
ترجمه فارسی عنوان
کنترل زمان محدود از دستکاری رباتیک
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
چکیده انگلیسی
This work offers the solution at the control feed-back level of the accurate trajectory tracking subject to finite-time convergence. Dynamic equations of a rigid robotic manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory. Based on the suitably defined non-singular terminal sliding vector variable and the Lyapunov stability theory, we propose a class of absolutely continuous robust controllers which seem to be effective in counteracting both uncertain dynamics and unbounded disturbances. The numerical simulation results carried out for a robotic manipulator consisting of two revolute kinematic pairs operating in a two-dimensional joint space illustrate performance of the proposed controllers.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automatica - Volume 51, January 2015, Pages 49-54
نویسندگان
,