IEEE Transactions on Automatic Control · 2022 · 136 citations · 32 references
EngineeringAutonomous SystemsProcess ControlProduction ControlRobot ControlControl Of Dynamical SystemsControl SystemsControl TheoryFeedback ControlNonlinear ControlNonlinear DynamicsMimo SystemsMulti-input Multi-output ControlMulti-input Multi-output SystemsNonlinear Control SystemsNonlinear Dynamical SystemsNonlinear SystemsRobust Control Of Uncertain SystemsTracking Controls
It is highly desirable yet challenging to achieve zero-error tracking within a given short time period for uncertain multi-input–multi-output (MIMO) nonlinear systems. Previous results are primarily state-regulation oriented and are valid only for single-input single-output linear systems or nonlinear systems in normal-form. This note presents a tracking control solution for high-order MIMO nonlinear systems in strict-feedback-like form. The proposed control is able to achieve precise tracking within the prescribed time irrespective of initial conditions in the presence of mismatched uncertainties and nonvanishing disturbances.
32
Continuous finite-time control for robotic manipulators with terminal sliding mode
Shuanghe Yu, Xinghuo Yu, Bijan Shirinzadeh et al. · Automatica · 2005 · 2.6K citations · Full text
Engineering, Mechanical Engineering, Robotics Engineering +16