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Prescribed-Time Control for Perturbed Euler-Lagrange Systems With Obstacle Avoidance
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DOI：10.1109/TAC.2021.3106882.png)
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摘要
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This article introduces a class of time-varying controllers for Euler-Lagrange systems such that the convergence occurs at an arbitrary finite time, independently of initial conditions, and free of chattering. The proposed controller is based on a mapping technique and is designed in two steps: First, a conventional (obstacle avoidance) asymptotically stable controller is specified for the nominal system; then, by a simple substitution, a prescribed-time (obstacle avoidance) controller is achievable for the perturbed system. It is proved that the proposed scheme is uniformly prescribed-time stable for unperturbed systems and prescribed-time attractive for perturbed systems as it rejects matched disturbances with unknown upper bounds without disturbance observation. As an example, a two-link robot manipulator is considered for numerical simulations.
Keyword:
Robots
Trajectory
Convergence
Collision avoidance
Nonlinear systems
Upper bound
Robot kinematics
Euler-Lagrange systems
prescribed-time control
robotic systems
time-varying control
期刊
IF:
7
论文数:
1.3W
被引数:
6.7W
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