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• W3119595474 abstract "This paper 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." @default.
• W3119595474 created "2021-01-18" @default.
• W3119595474 creator A5053726925 @default.
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• W3119595474 date "2022-07-01" @default.
• W3119595474 modified "2023-10-17" @default.
• W3119595474 title "Prescribed-Time Control for Perturbed Euler-Lagrange Systems With Obstacle Avoidance" @default.
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• W3119595474 doi "https://doi.org/10.1109/tac.2021.3106882" @default.
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