Predefined‐time control of cooperative manipulators

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.