Non-Singular Predefined-Time Stable Manifolds

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dc.contributor.authorSánchez-Torres, Juan D.
dc.contributor.authorJiménez-Rodríguez, Esteban
dc.contributor.authorGómez-Guitiérrez, David
dc.contributor.authorLoukianov, Alexander
dc.date.accessioned2017-03-09T00:55:59Z
dc.date.available2017-03-09T00:55:59Z
dc.date.issued2016-10
dc.descriptionIn this paper it is introduced a class of non-singular manifolds with predefinedtime stability. That is, for a given dynamical system with its trajectories constrained to this manifold it can be shown predefined-time stability to the origin. In addition, the function that defines the manifold and its derivative along the system trajectories are continuous, therefore no singularities are presented for the system evolution once the constrained motion starts. The problem of reaching the proposed manifold is solved by means of a continuous predefined-time stable controller. The proposal is applied to the predefined-time exact tracking of fully actuated and unperturbed mechanical systems. It is assumed the availability of the state and the desired trajectory as well as its two first derivatives. As an example, the proposed solution is applied over a two-link planar manipulator and numerical simulations are conducted to show its performance.es
dc.description.sponsorshipITESO, A.C.es
dc.description.sponsorshipCINVESTAV-IPNes
dc.identifier.citationSánchez-Torres, J.D.; Jiménez-Rodrıguez, E.; Gómez-Gutiérrez, D. and Loukianov, A. (2016) Non-Singular Predefined-Time Stable Manifolds. Conference proceedings of the XVII Latin American Conference of Automatic Control, Medellín, Colombia, pp. 183-188.es
dc.identifier.isbn978-958-8483-37-5
dc.identifier.urihttp://hdl.handle.net/11117/4290
dc.language.isoenges
dc.publisherUniversidad EAFIT School of Scienceses
dc.relation.ispartofseriesLatin American Conference of Automatic Control;XVII
dc.rights.urihttp://quijote.biblio.iteso.mx/licencias/CC-BY-NC-2.5-MX.pdfes
dc.subjectNon-singular manifoldses
dc.subjectPredefined-Time Stabilityes
dc.subjectSliding Mode Algorithmses
dc.subjectSecond Order Systemses
dc.subjectMechanical Systemses
dc.titleNon-Singular Predefined-Time Stable Manifoldses
dc.typeinfo:eu-repo/semantics/conferencePaperes
rei.peerreviewedYeses
rei.revisorLatin American Conference of Automatic Control

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