Predefined-Time Backstepping Control for Tracking a Class of Mechanical Systems
Fecha
2017-07Autor
Jiménez-Rodríguez, Esteban
Sánchez-Torres, Juan D.
Loukianov, Alexander
Metadatos
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The 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.Consejo Nacional de Ciencia y Tecnología