Prescribed-Time Control for Perturbed Euler-Lagrange Systems With Obstacle Avoidance

• 成果类型: Article
• 署名作者: Shakouri, Amir; Assadian, Nima
• 署名单位: Sharif University of Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3106882
• 发表日期: 2022
• 页码: 3754-3761
• 关键词: robots; trajectory; CONVERGENCE; Collision avoidance; Nonlinear systems; Upper bound; Robot kinematics; Euler-Lagrange systems; prescribed-time control; robotic systems; time-varying control

摘要

This article introduces a class of time-varying controllers for Euler-Lagrange systems such that the convergence occurs at an arbitrary finite time, independently of initial conditions, and free of chattering. The proposed controller is based on a mapping technique and is designed in two steps: First, a conventional (obstacle avoidance) asymptotically stable controller is specified for the nominal system; then, by a simple substitution, a prescribed-time (obstacle avoidance) controller is achievable for the perturbed system. It is proved that the proposed scheme is uniformly prescribed-time stable for unperturbed systems and prescribed-time attractive for perturbed systems as it rejects matched disturbances with unknown upper bounds without disturbance observation. As an example, a two-link robot manipulator is considered for numerical simulations.