Predefined-Time Robust Stabilization of Robotic Manipulators

Abstract

The contribution of this paper is a dynamic controller that enforces predefined-time stabilization of robotic manipulators by exploiting the passivity property inherent to their dynamical structure. The proposed scheme is continuous and provides exact predefined-time stabilization in the case of full knowledge of the robot dynamics. Nonetheless, even in the case of dynamic uncertainties and nonvanishing disturbances, exact predefined-time stabilization can be assured by using an additional unit-vector-like control term, and alternatively, a predefined-time predefined-bounded convergence can be achieved into a vicinity of the origin by means of a continuous controller. Numerical results based on simulations highlight the feasibility of the proposed scheme.