Predefined-Time Backstepping Control for Tracking a Class of Mechanical Systems
Cargando...
Fecha
Título de la revista
ISSN de la revista
Título del volumen
Editor
IFAC
Resumen
Descripción
The predefined-time exact tracking of unperturbed fully actuated mechanical systems is considered in this paper. A continuous second-order predefined-time stabilizing backstepping controller, designed using first-order predefined-time stabilizing functions, is developed to solve this problem. As an example, the proposed solution is applied over a two-link planar manipulator and numerical simulations are conducted to show performance of the proposed control scheme.
Palabras clave
High Order Systems, Predefined-Time Stability, Mechanical Systems
Citación
Jiménez-Rodríguez, E., Sánchez-Torres, J.D. and Loukianov, A. (2017). "Predefined-Time Backstepping Control for Tracking a Class of Mechanical Systems". 20th IFAC World Congress, July 9-14, Toulouse, France. https://rei.iteso.mx/handle/11117/4808