@inproceedings{70aef98424434b66b32e37cfb64f5feb,
title = "Fixed-Time Tracking Control for Robotic Manipulators Based on Adding a Power Integrator Method",
abstract = "This paper investigates the fixed-time control problem of an n degrees of freedom (n- DOF) robotic manipulators subject to uncertain dynamics and external disturbances. We propose a uniform robust exact differentiator (URED) observer to compensate for the lumped disturbances. Using the observer states, we then design a fixed-time stabilizer for the concerned system by the approach of adding a power integrator (AAPI). Both observer and tracking errors can be proven converge to zero in a fixed-time. Numerical simulations are carried out to illustrate the control algorithm.",
keywords = "Adding a power integrator method fixed-time control, Robotic manipulator",
author = "Shiming Wang and Yingmin Jia",
note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 19th Chinese Intelligent Systems Conference, CISC 2023 ; Conference date: 14-10-2023 Through 15-10-2023",
year = "2023",
doi = "10.1007/978-981-99-6847-3\_28",
language = "英语",
isbn = "9789819968466",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "329--342",
editor = "Yingmin Jia and Weicun Zhang and Yongling Fu and Jiqiang Wang",
booktitle = "Proceedings of 2023 Chinese Intelligent Systems Conference - Volume I",
address = "德国",
}