Predefined‐time control of cooperative manipulators
Aldo Jonathan Muñoz‐Vázquez, Juan Diego Sánchez‐Torres
Abstract
Summary A cooperative controller that enforces an exact sliding motion in predefined‐time, assuring cooperativeness, and stable manipulation, is proposed in this article. Alternatively, a continuous controller is also proposed, which induces in predefined‐time that a hybrid force/position error converges into a predefined‐bounded vicinity of the origin. Numerical simulations highlight the effectiveness of the proposed scheme.
Topics & Concepts
Control theory (sociology)Controller (irrigation)Position (finance)CooperativenessBounded functionScheme (mathematics)Computer scienceControl (management)MathematicsArtificial intelligenceEconomicsAgronomyTemperamentFinanceBiologyPsychologyMathematical analysisSocial psychologyPersonalityRobot Manipulation and LearningRobotic Mechanisms and DynamicsRobotic Locomotion and Control