Predefined-Time Backstepping Control for Tracking a Class of Mechanical Systems
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Fecha
2017-07
Autores
Jiménez-Rodríguez, Esteban
Sánchez-Torres, Juan D.
Loukianov, Alexander
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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