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FINITE TIME CONTROL FOR ROBOT MANIPULATORS
Yiguang Hong* Yangsheng Xu** Jie Huang**
* Institute of Systems Science, Chinese Academy of Sciences,
Beijing 100080, China. E-mail: hong@ee.duke.edu;
yghong@iss03.iss.ac.cn
** Department of Automation and Computer-Aided Engineering,
The Chinese University of Hong Kong, Hong Kong.
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 theoretic 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.
Keywords: Robot control, finite-time stability, state feedback, output feedback, stabilization
Session slot T-We-A21: Posters of Nonlinear Systems/Area code 2c : Non-linear Systems
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