Finite-Time Trajectory Tracking Control for Rigid 3-DOF Manipulators With Disturbances

Finite-Time Trajectory Tracking Control for Rigid 3-DOF Manipulators With Disturbances

This paper addresses the robust finite-time trajectory tracking control problem for a rigid three-degrees-of-freedom (3-DOFs) manipulator system, which is subject to model uncertainty and external disturbances. The disturbances are assumed to be upper bounded. The proposed method incorporates a fini...

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Bibliographic Details
Main Authors: Ziyang Chen, Xiaohui Yang, Xiaolong Zhang, Peter X. Liu
Format: Article
Language:English
Published: IEEE 2018-01-01
Series:IEEE Access
Subjects:
Finite-time tracking
global finite-time stability
disturbance observer
velocity observer
Online Access:https://ieeexplore.ieee.org/document/8419694/

Internet

https://ieeexplore.ieee.org/document/8419694/

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