Robust finite-time control approach for robotic manipulators

Zhao, Ding; Li, S.; Zhu, Qingyu; Gao, Feng

doi:10.1049/iet-cta.2008.0014

Cited by 113 publications

(74 citation statements)

References 34 publications

(94 reference statements)

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“…Next, we will show that there exists a bounded state feedback controller to globally finite-time stabilise system (10). To construct this controller, we first define…”

Section: Resultsmentioning

confidence: 99%

“…Before moving on, let us give a brief description of the controller design. First, an unbounded finite-time controller is designed to stabilise the non-linear system (10). Second, a series of nested saturations are imposed to the previous developed controller and obtain a bounded controller that can globally stabilise the non-linear system (10) in a finite time.…”

Section: Resultsmentioning

confidence: 99%

“…Because of such advantages and the convenience of continuous controllers in practical implementation, the finite-time control technique based on continuous feedback has gained increased attention in recent years, such as finite-time control by state feedback [4,[7][8][9][10] and output feedback [11,12] etc.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Global finite-time stabilisation using bounded feedback for a class of non-linear systems

Qian

Frye

et al. 2012

IET Control Theory Appl.

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In this study, the authors consider the problem of global finite-time stabilisation for a class of non-linear systems by bounded feedback control. First, we use the generalised adding a power integrator and the nested saturation methods to design a saturated homogeneous state feedback controller. Under this bounded controller, a class of non-linear systems comprised of a chain of power integrators perturbed by uncertain bounded non-linearities can be globally stabilised in a finite time. Second, as an application of previous developed results, a bounded finite-time output feedback controller is designed for a class of special non-linear systems, which is comprised by a chain of integrators plus known bounded non-linearities. To estimate the unknown states in a finite time, a finite-time convergent observer is constructed. By substituting the estimated states into the state feedback stabiliser, it can be guaranteed that the closed-loop system is globally finite-time stable.

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“…Next, we will show that there exists a bounded state feedback controller to globally finite-time stabilise system (10). To construct this controller, we first define…”

Section: Resultsmentioning

confidence: 99%

Section: Resultsmentioning

confidence: 99%

See 1 more Smart Citation

Global finite-time stabilisation using bounded feedback for a class of non-linear systems

Qian

Frye

et al. 2012

IET Control Theory Appl.

Self Cite

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show abstract

“…Even the above mentioned observer based control approaches can in practice only achieve (asymptotical) stability, when high gain control is applied. Such high gain control may lead to control input saturation, particularly in the instance of the large initial track error [21][22] . If there exist external disturbances, it is very challenging to design observers and output feedback controllers for CSTRs.…”

Section: Introductionmentioning

confidence: 99%

Terminal sliding mode control for continuous stirred tank reactor

Zhao

Zhu

Dubbeldam

2015

Chemical Engineering Research and Design

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“…Non-smooth control such as sliding mode control (Utkin et al, 2009;Zhao et al, 2009) and finite time control Li et al, 2011;Ou et al, 2012;Zhao et al, 2010) have strong robustness. In light of Lyapunov redesign and non-smooth control principles, a new robot non-smooth robust control is proposed in this paper.…”

Section: Introductionmentioning

confidence: 99%