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Robot control: Tracking with the required settling time

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Abstract

A recently developed concept of the finite-time tracking is studied within the framework of robot control. All the robot non-linearities are incorporated. Finite-time tracking and tracking with the required settling time are defined. The general sufficient conditions for all these tracking features are proved. They provide algorithms for control assuring the special tracking property. Their application to a rotational robot is shown via digital simulation. The simulation results illustrate the theory developed in the paper and show the excellent tracking behaviour of the robot.

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Authors and Affiliations

  1. Faculty of Mechanical Engineering, University at Belgrade, P.O. Box 174, 11001, Belgrade, Serbia, Yugoslavia

    Ljubomir T. Grujić

  2. Jožef Stefan Institute, University of Ljubljana, Jamova 39, 61000, Ljubljana, Slovenia, Yugoslavia

    Zoran R. Novaković

Authors
  1. Ljubomir T. Grujić
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  2. Zoran R. Novaković
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Grujić, L.T., Novaković, Z.R. Robot control: Tracking with the required settling time. J Intell Robot Syst 4, 255–265 (1991). https://doi.org/10.1007/BF00303226

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  • DOI: https://doi.org/10.1007/BF00303226

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