文章基本信息

标题：Finite-Time Regulation of Robot Manipulators: an Energy Shaping Approach
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作者：Emmanuel Cruz-Zavala ; Emmanuel Nuño ; Jaime A. Moreno 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：9583-9588
DOI：10.1016/j.ifacol.2017.08.1678
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, we focus on the finite-time regulation problem of robot manipulators based on the energy shaping control technique. In this framework, the control laws to be designed are described by the gradient of suitable potential and dissipative artificial energy functions. We provide explicit sufficient conditions on such artificial energy functions that allows us to obtain different finite-time controllers. Basically, we extend the classical energy shaping design for asymptotic regulators to the finite-time regulation case.
关键词：KeywordsRobot ManipulatorsFinite-Time ControlLyapunov Stability