Robot Control for Robust Stability with Finite Reachability Time in the Whole

摘要

A robot model incorporates possible discontinuous nonlinearities with unknown forms and values, unknown payload and unknown predictable external disturbance variations, all in known bounds. A control algorithm is synthesized to guarantee the following: 1.Robust global both stability and attraction with finite reachability time of an appropriately chosen sliding set. 2.The robot motions reach, on the sliding set, a desired motion in a respecified finite time. 3.Robust both stability and global attraction with finite reachability time of the given robot desired motion. 4.A prespecified convergence quality of real motions to the desired motion, independently of the internal dynamics of the system and without oscillations, hence without chattering in the sliding mode.