Finite-Time Regulation of Robots: a Strict Lyapunov Function Approach
Por:
Cruz-Zavala E., Nuño E., Moreno J.A.
Publicada:
1 ene 2018
Categoría:
Control and systems engineering
Resumen:
Motivated by the energy shaping framework and the properties of
homogeneous systems, we introduce a methodology to derive strict
Lyapunov functions (SLFs) for a class of global finite-time (FT)
controllers for robot manipulators. These controllers are described by
the gradient of the controller potential energy plus the gradient of
(nonlinear) energy dissipation-like functions. Sufficient conditions on
the controller potential energy and energy dissipation-like functions
are provided in order to obtain, in a straightforward manner, a SLF that
ensures global asymptotic stability at the desired equilibrium.
Finite-time stability is concluded by constructing a local SLF. As an
important practical outcome, we illustrate the proposed methodology by
constructing SLFs for some particular FT controllers. (C) 2018, IFAC
(International Federation of Automatic Control) Hosting by Elsevier Ltd.
All rights reserved.
Filiaciones:
Cruz-Zavala E.:
Department of Computer Science, CUCEI, University of Guadalajara (UdG), Guadalajara, Jalisco, Mexico
Nuño E.:
Department of Computer Science, CUCEI, University of Guadalajara (UdG), Guadalajara, Jalisco, Mexico
Moreno J.A.:
Engineering Institute, Universidad Nacional Autónoma de México (UNAM), Mexico City, Mexico
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