Jiménez-Rodríguez, EstebanSánchez-Torres, Juan D.Gómez-Guitiérrez, DavidLoukianov, Alexander2017-03-212018-03-222016-09E. Jiménez-Rodríguez, J. D. Sánchez-Torres, D. Gómez-Gutiérrez and A. Loukianov (2016). Predefined-time tracking of a class of mechanical systems,13th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE), Mexico City, pp. 1-5.DOI: https://doi.org/10.1109/ICEEE.2016.7751197http://hdl.handle.net/11117/4337In this paper the problem of predefined-time exact tracking of fully actuated and unperturbed mechanical systems is solved by means of a continuous controller. It is assumed the availability of the state and the desired trajectory as well as its two first derivatives. This is accomplished introducing the idea of second-order predefined-time stable systems, which is based on the nested application of the first-order predefined-time stabilizing function. As an example, the proposed solution is applied over a two-link planar manipulator and numerical simulations are conducted to show its performance.engPredefined-time stabilityMechanical systemsinfo:eu-repo/semantics/conferencePaper