AcademicArticleSCO_85047792070

abstract

• © 2018 Chinese Automatic Control Society and John Wiley & Sons Australia, Ltd. A controller that stabilizes second-order vector systems in predefined-time is introduced in this paper. That is, for second-order systems a controller is designed such that the trajectories reach the origin in a time defined in advance. The proposed controller is a variable structure controller that first drive the system trajectories to a linear manifold in predefined time and then drives the system trajectories to a non-smooth manifold with the predefined-time stability property, in predefined time also; this is done in order to avoid the differentiability problem that inherently appears when stabilizing high-order systems in finite time under the block control principle technique. The proposal is applied to the predefined-time exact tracking of fully actuated mechanical systems. As an example, the proposed solution is applied to a two-link planar manipulator, and numerical simulations are conducted to show its performance.