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Finite-time control for robot manipulators. (English) Zbl 0994.93041
Summary: Finite-time control of the robot system is studied through both state feedback and dynamic output feedback control. The effectiveness of the proposed approach is illustrated by both theoretical analysis and computer simulation. In addition to offering an alternative approach for improving the design of the robot regulator, this research also extends the study of the finite-time control problem from second-order systems to a large class of higher order nonlinear systems.
MSC:
93C85Automated control systems (robots, etc.)
70B15Mechanisms, robots (kinematics)
93D15Stabilization of systems by feedback
93B51Design techniques in systems theory