Result: Prescribed-time control algorithm: application to a two-link robot arm.
Further Information
This paper proposes a prescribed-time controller that stabilises a single-input single-output first- and an n-order systems. The proposed prescribed-time controller employs a logarithm function in its design, its convergence time is defined by the user, is independent of initial conditions and any other system parameters. The controller is first developed for a first-order system, then for a second- and an n-order systems. In case an external disturbance is present, a sign function through an integral action is employed to reject it. Under minor modifications, the developed controller for single-input single-output systems is extended to perturbed systems with multiple inputs and multiple outputs. The obtained results demonstrate that the proposed control algorithm drives the states to the origin in a prescribed time even in the presence of external disturbances and remain there for future times. A numerical simulation has been carried out on a two-link robot arm to show the effectiveness of the proposed control algorithm. [ABSTRACT FROM AUTHOR]
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