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Prescribed-time control for perturbed euler-lagrange systems with obstacle avoidance

Shakouri, A ; Sharif University of Technology | 2021

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  1. Type of Document: Article
  2. DOI: 10.1109/TAC.2021.3106882
  3. Publisher: Institute of Electrical and Electronics Engineers Inc , 2021
  4. Abstract:
  5. This paper 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. IEEE
  6. Keywords:
  7. Control system analysis ; Controllers ; Flexible manipulators ; Industrial manipulators ; Lagrange multipliers ; Robot applications ; Asymptotically stable ; Euler-Lagrange systems ; Initial conditions ; Mapping techniques ; Simple substitution ; Time-varying controllers ; Two-link robot manipulators ; Unperturbed systems ; Time varying control systems
  8. Source: IEEE Transactions on Automatic Control ; 2021 ; 00189286 (ISSN)
  9. URL: https://ieeexplore.ieee.org/document/9521794