This work offers the solution at the control feed-back level of the accurate trajectory tracking
subject to finite-time convergence. Dynamic equations of a rigid robotic manipulator are …

This work addresses the problem of the accurate task space control subject to finite-time
convergence. Dynamic equations of a rigid robotic manipulator are assumed to be …

A continuous finite-time control scheme for rigid robotic manipulators is proposed using a
new form of terminal sliding modes. The robustness of the controller is established using the …

抄録 A robust adaptive terminal sliding mode tracking control is proposed for rigid robotic
manipulators. First, it is shown that, when a rigid robotic manipulator is treated as a partially …

In this work, two globally stabilizing bounded control schemes for the tracking control of
robot manipulators with saturating inputs are proposed. They may be seen as extensions of …

Dynamic feedback control strategies are proposed for the asymptotic stabilization and
asymptotic output tracking problems, associated with the operation of flexible joint …

The contribution of this paper is a dynamic controller that enforces predefined-time
stabilization of robotic manipulators by exploiting the passivity property inherent to their …

Finite-time stability involves dynamical systems whose trajectories converge to an
equilibrium state in finite time. In this paper, we consider a general class of fully actuated …

A new class of exponentially stabilizing control laws for joint level control of robot arms is
introduced. It has recently been recognized that the non-linear dynamics associated with …

This paper addresses the problem of robust trajectory tracking for uncertain robot
manipulators within a priori fixed-time. A new sliding surface is first proposed and a robust …