Adaptive finite-time synergetic control for flexible-joint robot manipulator with disturbance inputs

• Datum: 2025
• Hauptverfasser: Nguyen, X. C., Le, D. T.
• Format: Artikel
• Sprache: Englisch
• Veröffentlicht: National Technical University "Kharkiv Polytechnic Institute" and Аnatolii Pidhornyi Institute of Power Machines and Systems of NAS of Ukraine 2025
• Schlagworte: flexible-joint manipulator; synergetic control theory; finite-time control; Lyapunov function; adaptive control
• Online Zugang: http://eie.khpi.edu.ua/article/view/323742
• Назва журналу: Electrical Engineering & Electromechanics

Introduction. In this paper, the adaptive finite time controller is designed for flexible-joint manipulator (FJM) to stabilize oscillations and track the desired trajectory based on synergetic control theory (SCT) under disturbance inputs. The problem of the proposed work consists in the development...