Finite-Time Output Control for Uncertain Robotic Manipulators With Time-Varying Output Constraints

Finite-Time Output Control for Uncertain Robotic Manipulators With Time-Varying Output Constraints

This paper proposes a finite-time output controller to realize the tracking control of n degrees of freedom (n-DOF) manipulator, which can address the time-varying output constraints and uncertainties, such as modeling error, unknown frictions, and external disturbance. A nonlinear mapping is conduc...

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Bibliographic Details
Main Authors: Duc Thien Tran, Hoai Vu Anh Truong, Maolin Jin, Kyoung Kwan Ahn
Format: Article
Language:English
Published: IEEE 2022-01-01
Series:IEEE Access
Subjects:
Robotic manipulator
output-feedback control
nonlinear extended state observer
nonlinear mapping
Lyapunov approach
time-varying output constraint
Online Access:https://ieeexplore.ieee.org/document/9940922/

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