Improving the transient response in backstepping control designs: Application to robotic manipulators

Salim Ibrir

doi:10.1109/IEEEGCC.2015.7060031

Improving the transient response in backstepping control designs: Application to robotic manipulators

Salim Ibrir^*

^*Corresponding author for this work

King Fahd University of Petroleum & Minerals

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

This paper investigates the problem of practical finite-time trajectory tracking and practical finite-time stabilization of two important classes of dynamical systems by means of C^(∞) feedbacks. It is shown that Hamiltonian mechanical systems and systems in strict feedback form can be made globally finite-time stable by smooth parameterized feedbacks. We show that we could bring all the trajectories of the closed-loop system to a small neighborhood of the origin in finite time and without peaking. Quantification of the settling time is also given in terms of two design parameters. Illustrative examples are provided to illustrate the proposed control design.

Original language	English
Title of host publication	2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781479984220
DOIs	https://doi.org/10.1109/IEEEGCC.2015.7060031
State	Published - 12 Mar 2015

Publication series

Name	2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

Keywords

Finite-time stability
Hamiltonian mechanical systems
Modeling
Stabilization

ASJC Scopus subject areas

General Energy
General Engineering
General Computer Science

Access to Document

10.1109/IEEEGCC.2015.7060031

Cite this

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title = "Improving the transient response in backstepping control designs: Application to robotic manipulators",

abstract = "This paper investigates the problem of practical finite-time trajectory tracking and practical finite-time stabilization of two important classes of dynamical systems by means of C(∞) feedbacks. It is shown that Hamiltonian mechanical systems and systems in strict feedback form can be made globally finite-time stable by smooth parameterized feedbacks. We show that we could bring all the trajectories of the closed-loop system to a small neighborhood of the origin in finite time and without peaking. Quantification of the settling time is also given in terms of two design parameters. Illustrative examples are provided to illustrate the proposed control design.",

keywords = "Finite-time stability, Hamiltonian mechanical systems, Modeling, Stabilization",

author = "Salim Ibrir",

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doi = "10.1109/IEEEGCC.2015.7060031",

language = "English",

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Improving the transient response in backstepping control designs: Application to robotic manipulators. / Ibrir, Salim.
2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015. Institute of Electrical and Electronics Engineers Inc., 2015. 7060031 (2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Ibrir, Salim

PY - 2015/3/12

Y1 - 2015/3/12

N2 - This paper investigates the problem of practical finite-time trajectory tracking and practical finite-time stabilization of two important classes of dynamical systems by means of C(∞) feedbacks. It is shown that Hamiltonian mechanical systems and systems in strict feedback form can be made globally finite-time stable by smooth parameterized feedbacks. We show that we could bring all the trajectories of the closed-loop system to a small neighborhood of the origin in finite time and without peaking. Quantification of the settling time is also given in terms of two design parameters. Illustrative examples are provided to illustrate the proposed control design.

AB - This paper investigates the problem of practical finite-time trajectory tracking and practical finite-time stabilization of two important classes of dynamical systems by means of C(∞) feedbacks. It is shown that Hamiltonian mechanical systems and systems in strict feedback form can be made globally finite-time stable by smooth parameterized feedbacks. We show that we could bring all the trajectories of the closed-loop system to a small neighborhood of the origin in finite time and without peaking. Quantification of the settling time is also given in terms of two design parameters. Illustrative examples are provided to illustrate the proposed control design.

KW - Finite-time stability

KW - Hamiltonian mechanical systems

KW - Modeling

KW - Stabilization

UR - https://www.scopus.com/pages/publications/84929096003

U2 - 10.1109/IEEEGCC.2015.7060031

DO - 10.1109/IEEEGCC.2015.7060031

M3 - Conference contribution

AN - SCOPUS:84929096003

T3 - 2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015

BT - 2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

Improving the transient response in backstepping control designs: Application to robotic manipulators

Abstract

Publication series

Bibliographical note

Keywords

ASJC Scopus subject areas

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Cite this