Jiménez-Rodríguez, EstebanSánchez-Torres, Juan D.Loukianov, Alexander2017-08-012017-08-012017-07Jiménez-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/11117/48082405-8963http://hdl.handle.net/11117/4808The 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.engHigh order systemsPredefined-time stabilityMechanical systemsinfo:eu-repo/semantics/conferencePaper