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  • 标题:Predefined-Time Backstepping Control for Tracking a Class of Mechanical Systems * * This work was supported by CONACyT, México, under grant 252405.
  • 本地全文:下载
  • 作者:Esteban Jiménez-Rodríguez ; Juan Diego Sánchez-Torres ; Alexander G. Loukianov
  • 期刊名称:IFAC PapersOnLine
  • 印刷版ISSN:2405-8963
  • 出版年度:2017
  • 卷号:50
  • 期号:1
  • 页码:1680-1685
  • DOI:10.1016/j.ifacol.2017.08.492
  • 语种:English
  • 出版社:Elsevier
  • 摘要:AbstractThe predefined-time exact tracking of unperturbed fully actuated mechanical systems is considered in this paper. A continuous second-order predefined-time stabilizing backstepping controller, designed using first-order predefined-time stabilizing functions, is developed to solve this problem. As an example, the proposed solution is applied over a two-link planar manipulator and numerical simulations are conducted to show performance of the proposed control scheme.
  • 关键词:KeywordsBacksteppingLyapunovMechanical systemsPredefined-time stabilitySecond-order systemsTracking
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