Finite-Time Tracking Control in Robotic Arm with Physical Constraints Under Disturbances

Finite-Time Tracking Control in Robotic Arm with Physical Constraints Under Disturbances

This paper proposes a novel control algorithm for robotic manipulators with unknown nonlinearities and external disturbances. Explicit consideration is given to the physical constraints on joint positions and velocities, ensuring tracking performance without violating prescribed constraints. Finite-...

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Bibliographic Details
Main Authors: Jiacheng Lou, Xuecheng Wen, Sergei Shavetov
Format: Article
Language:English
Published: MDPI AG 2025-07-01
Series:Mathematics
Subjects:
coordinate transformation
finite-time stability
disturbance observer
nonlinear systems
nonlinear control
manipulators
Online Access:https://www.mdpi.com/2227-7390/13/15/2336
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