 Prescribed-time control algorithm: application to a two-link robot armM. Hernandez-Gonzalez International Journal of Systems Science, 2025, vol. 56, issue 10, 2263-2283 Abstract: This paper proposes a prescribed-time controller that stabilises a single-input single-output first- and an n-order systems. The proposed prescribed-time controller employs a logarithm function in its design, its convergence time is defined by the user, is independent of initial conditions and any other system parameters. The controller is first developed for a first-order system, then for a second- and an n-order systems. In case an external disturbance is present, a sign function through an integral action is employed to reject it. Under minor modifications, the developed controller for single-input single-output systems is extended to perturbed systems with multiple inputs and multiple outputs. The obtained results demonstrate that the proposed control algorithm drives the states to the origin in a prescribed time even in the presence of external disturbances and remain there for future times. A numerical simulation has been carried out on a two-link robot arm to show the effectiveness of the proposed control algorithm. Date: 2025 Downloads: (external link) Related works: Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text Persistent link: https://EconPapers.repec.org/RePEc:taf:tsysxx:v:56:y:2025:i:10:p:2263-2283 Ordering information: This journal article can be ordered from DOI: 10.1080/00207721.2024.2444683 Access Statistics for this article International Journal of Systems Science is currently edited by Visakan Kadirkamanathan More articles in International Journal of Systems Science from Taylor & Francis Journals |
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