Jiménez-Rodríguez, EstebanSánchez-Torres, Juan D.Loukianov, Alexander2017-10-302018-04-012017-09-20E. Jiménez-Rodríguez, J. D. Sánchez-Torres and A. Loukianov (2017). A Second Order Predefined-Time Control Algorithm, 14th International Conference on Electrical Engineering, Computing Science and Automatic Control, september 20-22, Mexico City, Mexico.http://hdl.handle.net/11117/5041The predefined-time stabilization of second-order systems, i.e. the fixed-time stabilization with settling time as a function of the controller parameters, is revisited in this paper. The proposed controller is a time-based switched controller which first drive the system trajectories to a linear manifold in predefined time and then uses a nested second order controller. The application of the results is demonstrated for the trajectory tracking control in fully actuated mechanical systems. An illustrative example of the control of a two-link planar manipulator with predefined-time convergence shows the effectiveness of the proposed algorithm.engPredefined-time stabilityHigh order systemsinfo:eu-repo/semantics/conferencePaper