Finite-Time Output Robust Control for Restricted Joint Flight Emulator Robotic Arm With Adaptive Tangent Barrier Gains

Finite-Time Output Robust Control for Restricted Joint Flight Emulator Robotic Arm With Adaptive Tangent Barrier Gains

This research presents a novel, robust controller for acceleration tracking in robotic manipulators with time-varying joint limitations, accounting for articulation constraints. The proposed robotic system comprises an arm with limited joint mobility, simulating the dynamic movements required for ef...

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Bibliographic Details
Main Authors: Isaac Chairez, Alejandra Hernandez-Sanchez, Caridad Mireles, Arthur Mukhamedov, Grigory Bugriy, Stepan Lemak, Viktor Chertopolokhov
Format: Article
Language:English
Published: IEEE 2025-01-01
Series:IEEE Access
Subjects:
Restricted joint motion
barrier Lyapunov function
adaptive control
output feedback control
robotic manipulator
Online Access:https://ieeexplore.ieee.org/document/10856096/
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