Predefined-time control for robotic manipulators based on fully actuated system approaches^*

摘要

The problem of the predefined-time velocity tracking maneuver for robotic systems is investigated in the current work. The velocity tracking error system is first established for the robotic manipulator system. Then, a predefined-time controller is developed through the fully actuated system approach for stabilizing the established error system. It is proven by the Lyapunov theorem that the velocity tracking error for robotic manipulator error systems converges into the neighbor of zero with a predefined time. Finally, by comparing it with an existing controller, some simulation examples are provided so as to illustrate the advantages of the developed predefined-time control approach.