A robust tracking control of robot manipulators with predefined-time convergence

DOI10.1016/J.JFRANKLIN.2026.108513MaRDI QIDQ7234568zbMATH OpenFDO

Authors Yinlong Hou, Hao Chen, Liyin Zhang, Wang Wen, Ying Wu

Publication date 28 April 2026

Published in Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/J.JFRANKLIN.2026.108513

zbMATH Keywords

predefined-time stabilityrobot manipulatorssingularitysliding mode control

Mathematics Subject Classification ID

Variable structure systems (93B12) Automated systems (robots, etc.) in control theory (93C85) Finite-time stability (93D40)

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