Finite-Time Regulation of Robot Manipulators in the Task-Space

https://doi.org/10.58571/CNCA.AMCA.2023.001

Resumen: This paper proposes a control scheme in order to attain finite-time regulation of robots manipulators in the task-space. The stability analysis is carried out by means of strict Lyapunov functions since the well-known results of homogeneous systems cannot be applied directly. Simulations results verify the performance of the proposed control scheme.

¿Cómo citar?

Cruz-Zavala, Emmanuel; Aldana, Carlos; Moreno, Jaime A; Nuño, Emmanuel. Finite-Time Regulation of Robot Manipulators in the Task-Space. Memorias del Congreso Nacional de Control Automático, pp. 169-174, 2023. https://doi.org/10.58571/CNCA.AMCA.2023.001

Palabras clave

Control de Sistemas No Lineales; Robótica y Mecatrónica; Control Basado en pasividad

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