Predefined-time control of cooperative manipulators

abstract

• SummaryA cooperative controller that enforces an exact sliding motion in predefinedtime, assuring cooperativeness, and stable manipulation, is proposed in this article. Alternatively, a continuous controller is also proposed, which induces in predefinedtime that a hybrid force/position error converges into a predefinedbounded vicinity of the origin. Numerical simulations highlight the effectiveness of the proposed scheme.

authors

• Munoz Vazquez, Aldo Jonathan

published proceedings

• INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL

author list (cited authors)

• Munoz-Vazquez, A. J., & Sanchez-Torres, J. D.

complete list of authors

• Munoz-Vazquez, Aldo Jonathan||Sanchez-Torres, Juan Diego

publisher

• Wiley  Publisher

published in

• International Journal of Robust and Nonlinear Control  Journal

keywords

• Cooperative Robotic Manipulators
• Force Control
• Predefined-time Stability
• Sliding Mode Control

Digital Object Identifier (DOI)

• 10.1002/rnc.5171

start page

• 7295

end page

• 7306

volume

• 30

issue

• 17