This paper concerns with global fixed-time trajectory tracking of robot manipulators. A simple nonlinear inverse dynamics control (IDC) is proposed by using bi-limit homogeneity technique. Lyapunov stability theory and geometric bi-limit homogeneity technique are employed to prove global fixed-time tracking stability. It is proved that there exists a convergence time that is uniformly bounded a priori and such a bound is independent of the initial states such that the tracking errors converge to zero globally. The appealing advantages of the proposed control are that it is fairly easy to construct and has the global fixed-time tracking stability featuring faster transient and higher steady-state precision. Numerical simulation comparisons are provided to demonstrate the improved performance of the proposed approach.
Fixed-Time Inverse Dynamics Control for Robot Manipulators
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received August 15, 2018; final manuscript received January 23, 2019; published online February 27, 2019. Assoc. Editor: Richard Bearee.
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Su, Y., and Zheng, C. (February 27, 2019). "Fixed-Time Inverse Dynamics Control for Robot Manipulators." ASME. J. Dyn. Sys., Meas., Control. June 2019; 141(6): 064502. https://doi.org/10.1115/1.4042743
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