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arXiv · 1910.08529

Prescribed-time Control for Perturbed Euler-Lagrange Systems with Obstacle Avoidance

Amir Shakouri·Nima Assadian
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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.

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Amir Shakouri, Nima Assadian. 2019-10-18. Prescribed-time Control for Perturbed Euler-Lagrange Systems with Obstacle Avoidance. https://doi.org/10.1109/tac.2021.3106882

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